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Linear dynamic system method for tactile object classification

基于线性动态系统的触觉物体分类

  • Research Paper
  • Special Focus on Robot Sensing and Dexterous Operation
  • Published:
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Abstract

Lots of tactile sequences can be obtained by using a dexterous hand for grasping different objects. The ability of robotic environmental perception and dexterous manipulation will be significantly improved after these tactile sequences are correctly classified. Therefore, tactile sequences are separated into series of subgroups, and a method based on linear dynamical system (LDS) is used to extract features. Since these LDSs lie in non-Euclidean space, the Martin distance, which is a measurement different from Euclidean distance, is applied to calculate the distance between two LDSs, and the K-Medoid algorithm is used for clustering. The codebook is obtained after clustering and is used to represent time sequences to get a Bag-of-System (BoS). Then the BoS and labels are sent to Extreme Learning Machine (ELM) to train a classifier. Finally, three databases, KTH-7, KTH-10 and TSH-8 are used to evaluate our algorithm.

概要

创新点

触觉序列中包含了丰富的物理信息, 对这些信息进行分析可以实现物体分类, 实现机器人灵巧抓取. 使用线性动态系统(Linear Dynamic System, LDS)对触觉信息进行建模, 由于LDS存在于非欧式空间中, 因此使用能够充分刻画LDS特性的Martin距离作为距离的衡量标准. 在使用K-Medoid算法进行聚类后, 采用了机器学习中流行的Bag-of-Words框架对触觉信息进行分析, 并使用极限学习机进行物体分类. 在实验验证部分, 对3种触觉传感器所构建的触觉序列进行了算法测评.

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Authors and Affiliations

  1. Department of Electrical and Electronic Engineering, Shijiazhuang Tiedao University, Shijiazhuang, 050043, China

    Rui Ma, QingFen Yang & Meng Gao

  2. Department of Computer Science and Technology, Tsinghua University, Beijing, 100084, China

    Rui Ma, HuaPing Liu & FuChun Sun

  3. Tsinghua National Laboratory for Information Science and Technology, Beijing, 100084, China

    Rui Ma, HuaPing Liu & FuChun Sun

Authors
  1. Rui Ma
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  2. HuaPing Liu
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  3. FuChun Sun
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  4. QingFen Yang
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  5. Meng Gao
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Correspondence to HuaPing Liu.

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Ma, R., Liu, H., Sun, F. et al. Linear dynamic system method for tactile object classification. Sci. China Inf. Sci. 57, 1–11 (2014). https://doi.org/10.1007/s11432-014-5212-7

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  • DOI: https://doi.org/10.1007/s11432-014-5212-7

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