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A surface-shape recognition system mimicking human mechanism for tactile sensation
http://hdl.handle.net/2237/10285
http://hdl.handle.net/2237/10285a5e4080e-7aca-4cd5-bf1e-28f3ead140de
名前 / ファイル | ライセンス | アクション |
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Ohka_Masahiro_A_surface-shape_recognition_system_mimicking_2006.pdf (395.6 kB)
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Item type | 学術雑誌論文 / Journal Article(1) | |||||
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公開日 | 2008-07-25 | |||||
タイトル | ||||||
タイトル | A surface-shape recognition system mimicking human mechanism for tactile sensation | |||||
言語 | en | |||||
著者 |
Ohka, Masahiro
× Ohka, Masahiro× Takayanagi, Jyunichi× Kawamura, Takuya× Mitsuya, Yasunaga |
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アクセス権 | ||||||
アクセス権 | open access | |||||
アクセス権URI | http://purl.org/coar/access_right/c_abf2 | |||||
権利 | ||||||
言語 | en | |||||
権利情報 | Cambridge University Press | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | Tactile sensor | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | Neuron model | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | Associative model | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | Contour recognition | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | Surface-shape | |||||
抄録 | ||||||
内容記述 | Tactile sensing is advantageous for the acquisition of local, proximal information such as the contact condition between a finger and an object. This type of sensing, however, is not suited for recognizing an entire object that is easily recognized by vision. The objective of this paper is to ease the limitations experienced in tactile sensing by using both a neural model based on the human tactile sensation and a tactile-oriented associative memory model to enable a robot to recognize object contours. In the model, first the direction vectors belonging to segments of the object contour are obtained from a filtered tactile pattern of the simulated neurons’ excitation. Second, the vectors are quantized by the chain-symbolizing method and stored for use in a memory matrix that accumulates matrix-products between the vector and its transposition. In the recalling process, complete vectors are remembered even if some input vector elements are missing. In the experiments, a robotic manipulator equipped with a tactile sensor traces five types of contours, these being a circle, a square, a triangle, a star, and a hexagon. After the robot recalls the complete contours, it is able to recognize a complete contour by just touching even a part of a contour. | |||||
言語 | en | |||||
内容記述タイプ | Abstract | |||||
出版者 | ||||||
言語 | en | |||||
出版者 | Cambridge University Press | |||||
言語 | ||||||
言語 | eng | |||||
資源タイプ | ||||||
資源タイプresource | http://purl.org/coar/resource_type/c_6501 | |||||
タイプ | journal article | |||||
出版タイプ | ||||||
出版タイプ | VoR | |||||
出版タイプResource | http://purl.org/coar/version/c_970fb48d4fbd8a85 | |||||
DOI | ||||||
関連タイプ | isVersionOf | |||||
識別子タイプ | DOI | |||||
関連識別子 | https://doi.org/10.1017/S0263574706002669 | |||||
ISSN | ||||||
収録物識別子タイプ | PISSN | |||||
収録物識別子 | 0263-5747 | |||||
書誌情報 |
en : Robotica 巻 24, 号 5, p. 595-602, 発行日 2006-02 |
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フォーマット | ||||||
application/pdf | ||||||
著者版フラグ | ||||||
値 | publisher | |||||
URI | ||||||
識別子 | http://hdl.handle.net/2237/10285 | |||||
識別子タイプ | HDL |