The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Tactile Sensor-based Object Recognition Method Robust to Gripping Conditions Using Fast Fourier Convolution Algorithm

고속 푸리에 합성곱을 이용한 파지 조건에 강인한 촉각센서 기반 물체 인식 방법

  • Received : 2022.03.24
  • Accepted : 2022.04.29
  • Published : 2022.08.31
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Abstract

The accurate object recognition is important for the precise and accurate manipulation. To enhance the recognition performance, we can use various types of sensors. In general, acquired data from sensors have a high sampling rate. So, in the past, the RNN-based model is commonly used to handle and analyze the time-series sensor data. However, the RNN-based model has limitations of excessive parameters. CNN-based model also can be used to analyze time-series input data. However, CNN-based model also has limitations of the small receptive field in early layers. For this reason, when we use a CNN-based model, model architecture should be deeper and heavier to extract useful global features. Thus, traditional methods like RN N -based and CN N -based model needs huge amount of learning parameters. Recently studied result shows that Fast Fourier Convolution (FFC) can overcome the limitations of traditional methods. This operator can extract global features from the first hidden layer, so it can be effectively used for feature extracting of sensor data that have a high sampling rate. In this paper, we propose the algorithm to recognize objects using tactile sensor data and the FFC model. The data was acquired from 11 types of objects to verify our posed model. We collected pressure, current, position data when the gripper grasps the objects by random force. As a result, the accuracy is enhanced from 84.66% to 91.43% when we use the proposed FFC-based model instead of the traditional model.

Keywords

Acknowledgement

This study is a part of the research project, "Development of core machinery technologies for autonomous operation and manufacturing (NK236E)", which has been supported by a grant from National Research Council of Science & Technology under the R&D Program of Ministry of Science, ICT and Future Planning This research was financially supported by the Institute of Civil m Military Technology Cooperation funded by the Defense Acquisition Program Administration and Ministry of Trade, Industry and Energy of Korean government under grant No. 19-CM-GU-01

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