Tactile sensing has for the most part been ignored in favor of other kinds of robotic sensing, particularly vision. The ability that humans have to infer 3-D shape and structure from projected 2-D images has led most researchers to try and emulate this human information processing ability. However, the complicated interaction and coupling of surface reflectance, lighting and occlusion yield intensity arrays that machines cannot understand well. The approach taken here is that for tasks such as object recognition, vision sensing is not enough. What is needed is more sensory information that can supplement the sparse and sometimes confusing visual data. In this work, the additional sensory data is supplied by a tactile sensor that is actively controlled and is used in an exploratory manner.
KeywordsTactile Sensor Boundary Contour Contact Sensor Global Threshold High Level Knowledge
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