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Self-supervised lea...
Self-supervised learning of object slippage: An LSTM model trained on low-cost tactile sensors
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- Begalinova, Ainur (författare)
- University of Manchester
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- King, Ross, 1962 (författare)
- Chalmers tekniska högskola,Chalmers University of Technology
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- Lennox, Barry (författare)
- University of Manchester
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- Batista-Navarro, Riza (författare)
- University of Manchester
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(creator_code:org_t)
- 2020
- 2020
- Engelska.
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Ingår i: Proceedings - 4th IEEE International Conference on Robotic Computing, IRC 2020. ; , s. 191-196
- Relaterad länk:
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https://research.cha...
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https://doi.org/10.1...
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Abstract
Ämnesord
Stäng
- This paper presents a combination of machine learning techniques for slip detection in grasping, based on temporal features collected by low-cost tactile sensors. A slippage is an event that is subsequent to prior micro-slippages that have occurred at hand-object contact. The method is based on the application of a sequential classification technique (a variant of recurrent neural networks known as long short-term memory networks or LSTMs), whereby time-series pressure readings from tactile sensors are classified as either slip or non-slip events. We also propose a novel method for autonomous labelling, removing the need for humans in the labelling process. Lastly, this paper proposes a new design for an adaptable wearable tactile sensing device that integrates non-expensive sensors. Our proposed method achieved high accuracy in the classification of slip and non-slip events, obtaining over 95% in offline classification and 89% in online classification using a Sawyer robot.
Ämnesord
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Robotteknik och automation (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Robotics (hsv//eng)
- NATURVETENSKAP -- Data- och informationsvetenskap -- Datavetenskap (hsv//swe)
- NATURAL SCIENCES -- Computer and Information Sciences -- Computer Sciences (hsv//eng)
- NATURVETENSKAP -- Data- och informationsvetenskap -- Datorseende och robotik (hsv//swe)
- NATURAL SCIENCES -- Computer and Information Sciences -- Computer Vision and Robotics (hsv//eng)
Publikations- och innehållstyp
- kon (ämneskategori)
- ref (ämneskategori)