Dexterous hand tactile information based material classification method based on joint sparse coding

A technology of joint sparse and dexterous hands, applied in the field of material classification of joint sparse coding, can solve the problem of applying tactile information without similar methods, and achieve the effect of improving robustness and accuracy

Active Publication Date: 2015-10-28
TSINGHUA UNIV
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However, this method only extracts different frame images of objects as class

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  • Dexterous hand tactile information based material classification method based on joint sparse coding
  • Dexterous hand tactile information based material classification method based on joint sparse coding
  • Dexterous hand tactile information based material classification method based on joint sparse coding

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[0018] A material classification method based on joint sparse coding of dexterous hand tactile information proposed by the present invention is described in detail in conjunction with the accompanying drawings and embodiments as follows:

[0019] The process flow of a material classification method based on joint sparse coding of dexterous hand tactile information proposed by the present invention is as follows: figure 1 As shown, the method includes the following steps:

[0020] 1) Collect the tactile information of the object as the training sample:

[0021] Set the grasping torque value F of the dexterous hand to 2300-4000N / m, the non-zero tactile signal is Y, and the zero tactile signal is Z; put the object as a training sample on the palm S of the dexterous hand, and the palm S will monitor and collect the palm in real time When the zero tactile signal Z of the palm is detected, continue to wait for the palm signal to be monitored. When the non-zero tactile signal Y of t...

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Abstract

The invention relates to a dexterous hand tactile information based material classification method based on joint sparse coding, and belongs to the technical field of material classification. The method comprises the steps of: (1) collecting tactile information of objects serving as training samples; (2) classifying the training samples into i types according to different materials of the training samples, capturing each training sample, collecting tactile information to obtain a tactile time sequence, and establishing a training sample dataset; (3) extracting the features of the training samples according to the obtained training sample dataset, and establishing a tactile sequence dictionary phi (D); (4) capturing test sample objects required to be classified to obtain tactile time sequences of the test samples, and classifying the materials by the obtained tactile time sequence of each test sample to obtain the types of the test samples; and (5) performing the step (4) on all the test samples to obtain the material type of each test sample. According to the method, the tactile information based material classification is realized on the basis of the joint sparse coding method, and the robustness and accuracy of classification are improved.

Description

technical field [0001] The invention belongs to the technical field of material classification, in particular to a material classification method based on joint sparse coding of dexterous hand tactile information. Background technique [0002] The BarrettHand dexterous hand of the BH8 series is a programmable multi-finger gripper, which has very high flexibility and can grasp target objects of different shapes, sizes and postures. The dexterous hand is composed of three fingers F1, F2, F3 and four tactile sensors of a palm S. Each sensor contains 24 tactile arrays, which can grasp objects and collect tactile information of the grasped objects to obtain tactile time series. [0003] In the existing object type recognition technology, there are many different methods of object type recognition technology, such as: the object type recognition technology based on heuristic rules, which uses simple information such as the shape, size, and proportion of the object to extract The ...

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Application Information

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IPC IPC(8): G06K9/62G06K9/66
CPCG06V30/194G06F18/24
Inventor 刘华平杨静伟孙富春
Owner TSINGHUA UNIV
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