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--- members:sturmju:research:tactile [2011/07/12 11:24]
sturmju
+++ members:sturmju:research:tactile [2012/01/20 12:01] (current)
@@ Line 1: / Line 1: @@
 ====== Tactile Sensing ======
 In particular for robotic manipulation
@@ Line 6: / Line 5: @@
 reveal relevant aspects about the object being manipulated, for
 example, to infer its identity, pose, and internal state.
+==== Tactile object recognition using the bag-of-features approach ====
 Our approach uses the bag-of-features model that we apply to object
@@ Line 28: / Line 29: @@
 <iframe width="320" height="240" src="http://www.youtube.com/embed/QtgbWV9qmbc?hl=en&fs=1" frameborder="0" allowfullscreen></iframe>
 </html>
+==== Estimating the internal state of containers ====
+We investigated features that describe the
+dynamics in the tactile response while the robot is
+grasping or manipulating an object. As we showed, the dynamic
+components of the tactile signal can be used to infer several aspects of the internal state
+of an object. For example, these features allow a robot to
+detect whether a grasped bottle contains liquid and whether its cap
+has been properly closed. This information is highly relevant for
+domestic robots that fulfill service tasks such as tidying up.
 ====== Related Publications ======
-<php>
+<bibtex>
-$options=array(
+<author>J. Sturm</author>
-      "author"=>"J. Sturm",
+<topic>tactile-sensing</topic>
-      "topic"=>"tactile-sensing",
+</bibtex>
-);
-showbib($options);
-</php>

Technical University of Munich