A Haptic Exploration and Surface Classification of Objects with Four Typical Surface Properties

Peng Qi1; Yunfeng Wu1; Tianliang Yao1; Bo Lu2; Yi Sun3; Jian S. Dai4

10.1109/ICARM58088.2023.10218965

2023

979-8-3503-0018-5

2023 International Conference on Advanced Robotics and Mechatronics (ICARM)

137-142

8-10 July 2023

Sanya, China

To effectively interact with the physical world, an intelligent robot is required to have the ability to obtain the detailed features of an unknown object. Visual devices are commonly used to detect the global geometry of an object; however, detailed information such as surface properties cannot be identified using these devices. The current study proposes an efficient haptic exploration method to recognize the physical properties of surfaces using an intelligent fingertip. Our surface-following algorithm utilizes the normal force vector and the tangential force vector at the contact point between the fingertip and the target object to predict the moving direction and implement the surface exploration. And a correction index $K$ is introduced to adjust the sliding velocity. The algorithm is proved to be robust and high performance both in simulation and lab experiments. Finally, we propose and explore a haptic prediction neural network, which enables our robot to have an accurate feel through physical interaction. In the classification experiment of four types of objects with different surface properties, the average accuracy of the proposed model is 90.2%.

Geometry Visualization Mechatronics Force Neural networks Prediction algorithms Haptic interfaces

其他

EI

20233814760457

Intelligent robots

Robot Applications:731.6 ; Physical Properties of Gases, Liquids and Solids:931.2 ; Materials Science:951

IEEE

1.Department of Control Science and Engineering, College of Electronics and Information Engineering, Tongji University, Shanghai, P. R. China
2.Robotics and Microsystems Center, School of Mechanical and Electric Engineering, Soochow University, Suzhou, Jiangsu, China
3.Laboratory of Intelligent Systems, Ecole Polytechnique Federale de Lausanne, Lausanne, Switzerland
4.Department of Mechanical and Energy Engineering, College of Engineering, Southern University of Science and Technology, Shenzhen, P. R. China

Peng Qi,Yunfeng Wu,Tianliang Yao,et al. A Haptic Exploration and Surface Classification of Objects with Four Typical Surface Properties[C],2023:137-142.