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  1. B200 工学部/工学研究科
  2. B200a 雑誌掲載論文
  3. 学術雑誌

A surface-shape recognition system mimicking human mechanism for tactile sensation

http://hdl.handle.net/2237/10285
http://hdl.handle.net/2237/10285
a5e4080e-7aca-4cd5-bf1e-28f3ead140de
名前 / ファイル ライセンス アクション
Ohka_Masahiro_A_surface-shape_recognition_system_mimicking_2006.pdf Ohka_Masahiro_A_surface-shape_recognition_system_mimicking_2006.pdf (395.6 kB)
Item type 学術雑誌論文 / Journal Article(1)
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

WEKO 23980

en Ohka, Masahiro

Search repository
Takayanagi, Jyunichi

× Takayanagi, Jyunichi

WEKO 23981

en Takayanagi, Jyunichi

Search repository
Kawamura, Takuya

× Kawamura, Takuya

WEKO 23982

en Kawamura, Takuya

Search repository
Mitsuya, Yasunaga

× Mitsuya, Yasunaga

WEKO 23983

en Mitsuya, Yasunaga

Search repository
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
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
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