Imperial College London

Dr Thrishantha Nanayakkara

Faculty of EngineeringDyson School of Design Engineering

Reader in Design Engineering and Robotics
 
 
 
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Contact

 

+44 (0)20 7594 0965t.nanayakkara Website CV

 
 
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Location

 

RCS1 M229Dyson BuildingSouth Kensington Campus

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Summary

 

Publications

Citation

BibTex format

@inproceedings{Liu:2012:10.1109/ICRA.2012.6224872,
author = {Liu, H and Song, X and Nanayakkara, T and Seneviratne, LD and Althoefer, K},
doi = {10.1109/ICRA.2012.6224872},
pages = {1410--1415},
title = {A computationally fast algorithm for local contact shape and pose classification using a tactile array sensor},
url = {http://dx.doi.org/10.1109/ICRA.2012.6224872},
year = {2012}
}

RIS format (EndNote, RefMan)

TY  - CPAPER
AB - This paper proposes a new computationally fast algorithm for classifying the primitive shape and pose of the local contact area in real-time using a tactile array sensor attached on a robotic fingertip. The proposed approach abstracts the lower structural property of the tactile image by analyzing the covariance between pressure values and their locations on the sensor and identifies three orthogonal principal axes of the pressure distribution. Classifying contact shapes based on the principal axes allows the results to be invariant to the rotation of the contact shape. A naïve Bayes classifier is implemented to classify the shape and pose of the local contact shapes. Using an off-shelf low resolution tactile array sensor which comprises of 5x9 pressure elements, an overall accuracy of 97.5% has been achieved in classifying six primitive contact shapes. The proposed method is very computational efficient (total classifying time for a local contact shape = 576μs (1736 Hz)). The test results demonstrate that the proposed method is practical to be implemented on robotic hands equipped with tactile array sensors for conducting manipulation tasks where real-time classification is essential. © 2012 IEEE.
AU - Liu,H
AU - Song,X
AU - Nanayakkara,T
AU - Seneviratne,LD
AU - Althoefer,K
DO - 10.1109/ICRA.2012.6224872
EP - 1415
PY - 2012///
SN - 1050-4729
SP - 1410
TI - A computationally fast algorithm for local contact shape and pose classification using a tactile array sensor
UR - http://dx.doi.org/10.1109/ICRA.2012.6224872
ER -