A local filtering technique for robot skin data
Algorithms for tactile data processing heavily rely on the generation of tactile images representing the contact distribution. This approach allows to exploit existing algorithms for image processing, but requires the integration of the tactile elements on a flat surface. Robotic skins technologies...
| Asıl Yazarlar: | , , |
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| Materyal Türü: | Journal article |
| Dil: | English |
| Baskı/Yayın Bilgisi: |
IEEE
2021
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| _version_ | 1826270852197384192 |
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| author | Albini, A Cannata, G Maiolino, P |
| author_facet | Albini, A Cannata, G Maiolino, P |
| author_sort | Albini, A |
| collection | OXFORD |
| description | Algorithms for tactile data processing heavily rely on the generation of tactile images representing the contact distribution. This approach allows to exploit existing algorithms for image processing, but requires the integration of the tactile elements on a flat surface. Robotic skins technologies introduce challenges related to the non-regular distribution of the tactile elements and the non-planar surface over which they are integrated. In this paper we present a method to address these challenges by developing a local filtering technique directly applicable on large-area tactile sensing systems. The proposed filter can process the contact distribution without the need of intermediate steps (generation of a tactile image). We focus particularly on the design of a filter to detect sharp variations in the contact distribution, i.e. \textit{edges}. The approach is validated in a task of planar contour following performed using a robot equipped with two different end-effectors (planar and non-planar) sensorized with large-area tactile sensing technology. Additional experiments have been performed to evaluate strengths and limitations of the proposed approach with respect to tactile image-based data processing techniques. |
| first_indexed | 2024-03-06T21:47:20Z |
| format | Journal article |
| id | oxford-uuid:4a0a6802-67bd-4900-adcd-a74ff77a3d37 |
| institution | University of Oxford |
| language | English |
| last_indexed | 2024-03-06T21:47:20Z |
| publishDate | 2021 |
| publisher | IEEE |
| record_format | dspace |
| spelling | oxford-uuid:4a0a6802-67bd-4900-adcd-a74ff77a3d372022-03-26T15:35:23ZA local filtering technique for robot skin dataJournal articlehttp://purl.org/coar/resource_type/c_dcae04bcuuid:4a0a6802-67bd-4900-adcd-a74ff77a3d37EnglishSymplectic ElementsIEEE2021Albini, ACannata, GMaiolino, PAlgorithms for tactile data processing heavily rely on the generation of tactile images representing the contact distribution. This approach allows to exploit existing algorithms for image processing, but requires the integration of the tactile elements on a flat surface. Robotic skins technologies introduce challenges related to the non-regular distribution of the tactile elements and the non-planar surface over which they are integrated. In this paper we present a method to address these challenges by developing a local filtering technique directly applicable on large-area tactile sensing systems. The proposed filter can process the contact distribution without the need of intermediate steps (generation of a tactile image). We focus particularly on the design of a filter to detect sharp variations in the contact distribution, i.e. \textit{edges}. The approach is validated in a task of planar contour following performed using a robot equipped with two different end-effectors (planar and non-planar) sensorized with large-area tactile sensing technology. Additional experiments have been performed to evaluate strengths and limitations of the proposed approach with respect to tactile image-based data processing techniques. |
| spellingShingle | Albini, A Cannata, G Maiolino, P A local filtering technique for robot skin data |
| title | A local filtering technique for robot skin data |
| title_full | A local filtering technique for robot skin data |
| title_fullStr | A local filtering technique for robot skin data |
| title_full_unstemmed | A local filtering technique for robot skin data |
| title_short | A local filtering technique for robot skin data |
| title_sort | local filtering technique for robot skin data |
| work_keys_str_mv | AT albinia alocalfilteringtechniqueforrobotskindata AT cannatag alocalfilteringtechniqueforrobotskindata AT maiolinop alocalfilteringtechniqueforrobotskindata AT albinia localfilteringtechniqueforrobotskindata AT cannatag localfilteringtechniqueforrobotskindata AT maiolinop localfilteringtechniqueforrobotskindata |