Title:
Material Recognition from Heat Transfer given Varying Initial Conditions and Short-Duration Contact
Material Recognition from Heat Transfer given Varying Initial Conditions and Short-Duration Contact
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Author(s)
Bhattacharjee, Tapomayukh
Wade, Joshua
Kemp, Charles C.
Wade, Joshua
Kemp, Charles C.
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Abstract
When making contact with an object, a robot can
use a tactile sensor consisting of a heating element and a
temperature sensor to recognize the object’s material based on
conductive heat transfer from the tactile sensor to the object.
When this type of tactile sensor has time to fully reheat prior to
contact and the duration of contact is long enough to achieve
a thermal steady state, numerous methods have been shown
to perform well. In order to enable robots to more efficiently
sense their environments and take advantage of brief contact
events over which they lack control, we focus on the problem
of material recognition from heat transfer given varying initial
conditions and short-duration contact. We present both modelbased
and data-driven methods. For the model-based method,
we modeled the thermodynamics of the sensor in contact with
a material as contact between two semi-infinite solids. For the
data-driven methods, we used three machine learning algorithms
(SVM+PCA, k-NN+PCA, HMMs) with time series of raw temperature
measurements and temperature change estimates. When
recognizing 11 materials with varying initial conditions and 3-
fold cross-validation, SVM+PCA outperformed all other methods,
achieving 84% accuracy
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Date Issued
2015
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Text
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Proceedings