Robotic Tactile Perception and Understanding

For robots, tactile perception is a key function utilized to obtain information from environment. Unlike vision sensors, tactile sensors can directly measure various physical properties of objects and the environment. Similarly, humans also use touch sensory receptors as an important approach to perceive and interact with the environment. In this chapter, a detailed discussion associated with tactile object recognition is presented. Current studies on tactile object recognition are divided into three sub-categories, and detailed analyses are provided. In addition, some advanced topics such as visual–tactile fusion, exploratory procedure, and datasets are discussed. 1.1 Robotic Manipulation and Grasp The robotic manipulator and the dexterous finger system are most important components for service robots to perform tasks such as heavy domestic work, caring for the elderly, surgical operations, and space or underwater exploration. All of those operations require a manipulation and grasp capability, which remains a challenging problem for intelligent robots. Thoughmany scholars have investigated related problems for several decades [6, 9, 12, 78, 86], the available robotic hand applications are still far from satisfying practical usage. This restricts development of many applications such as electronic commerce, which has benefitted from successful mobile robots. Figuratively, the problem of Last Mile can be solved with the outdoor mobile robots; the problem of Last Foot can be solved with the indoor mobile robots; and the problem of Last Inchmust be solvedwith roboticmanipulation and grasp technology. Recently, somemajor Internet companies have started promoting research on robotic manipulation and grasp. For example, Amazon held the Amazon Picking Challenge (APC)1 in 2015 (see the left panel of Fig. 1.12) at the 2015 International Conference on Robotics and Automation (ICRA) in Seattle, Washington. After that event, APC 1https://www.amazonrobotics.com/site/binaries/content/assets/amazonrobotics/pdfs/2015-apcsummary.pdf. 2This image is adopted from the website http://robohub.org/team-rbo-from-berlin-wins-amazonpicking-challenge-convincingly/. © Springer Nature Singapore Pte Ltd. 2018 H. Liu and F. Sun, Robotic Tactile Perception and Understanding, https://doi.org/10.1007/978-981-10-6171-4_1 3

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