Virtual Haptic System for Shape Recognition Based on Local Curvatures

Guillem Garrofé, Carlota Parés, Anna Gutiérrez, Conrado Ruiz, Gerard Serra, David Miralles

Producció científica: Capítol de llibreContribució a una conferènciaAvaluat per experts

1 Citació (Scopus)

Resum

Haptic object recognition is widely used in various robotic manipulation tasks. Using the shape features obtained at either a local or global scale, robotic systems can identify objects solely by touch. Most of the existing work on haptic systems either utilizes a robotic arm with end-effectors to identify the shape of an object based on contact points, or uses a surface capable of recording pressure patterns. In this work, we introduce a novel haptic capture system based on the local curvature of an object. We present a haptic sensor system comprising of three aligned and equally spaced fingers that move towards the surface of an object at the same speed. When an object is touched, our system records the relative times between each contact sensor. Simulating our approach in a virtual environment, we show that this new local and low-dimensional geometrical feature can be effectively used for shape recognition. Even with 10 samples, our system achieves an accuracy of over 90 % without using any sampling strategy or any associated spatial information.

Idioma originalAnglès
Títol de la publicacióAdvances in Computer Graphics - 38th Computer Graphics International Conference, CGI 2021, Proceedings
EditorsNadia Magnenat-Thalmann, Nadia Magnenat-Thalmann, Victoria Interrante, Daniel Thalmann, George Papagiannakis, Bin Sheng, Jinman Kim, Marina Gavrilova
EditorSpringer Science and Business Media Deutschland GmbH
Pàgines41-53
Nombre de pàgines13
ISBN (imprès)9783030890285
DOIs
Estat de la publicacióPublicada - 2021
Esdeveniment38th Computer Graphics International Conference, CGI 2021 - Virtual, Online
Durada: 6 de set. 202110 de set. 2021

Sèrie de publicacions

NomLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volum13002 LNCS
ISSN (imprès)0302-9743
ISSN (electrònic)1611-3349

Conferència

Conferència38th Computer Graphics International Conference, CGI 2021
CiutatVirtual, Online
Període6/09/2110/09/21

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