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Proceedings of the Future Technologies Conference

FTC 2019: Proceedings of the Future Technologies Conference (FTC) 2019 pp 175–192Cite as

Automatic Grasping Using Tactile Sensing and Deep Calibration

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Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 1069))

Abstract

Tactile perception is an essential ability of intelligent robots in interaction with their surrounding environments. This perception as an intermediate level acts between sensation and action and has to be defined properly to generate suitable action in response to sensed data. In this paper, we propose a feedback approach to address robot grasping task using force-torque tactile sensing. While visual perception is an essential part for gross reaching, constant utilization of this sensing modality can negatively affect the grasping process with overwhelming computation. In such case, human being utilizes tactile sensing to interact with objects. Inspired by, the proposed approach is presented and evaluated on a real robot to demonstrate the effectiveness of the suggested framework. Moreover, we utilize a deep learning framework called Deep Calibration in order to eliminate the effect of bias in the collected data from the robot sensors.

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Author information

Authors and Affiliations

  1. Central Florida Research Park and NanoScience Technology Center, Department of Electrical and Computer Engineering, University of Central Florida, Orlando, FL, 32826, USA

    Masoud Baghbahari & Aman Behal

Authors
  1. Masoud Baghbahari
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  2. Aman Behal
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Corresponding author

Correspondence to Masoud Baghbahari .

Editor information

Editors and Affiliations

  1. Faculty of Science and Engineering, Saga University, Saga, Japan

    Kohei Arai

  2. The Science and Information (SAI) Organization, Bradford, West Yorkshire, UK

    Rahul Bhatia

  3. The Science and Information (SAI) Organization, Bradford, West Yorkshire, UK

    Supriya Kapoor

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Baghbahari, M., Behal, A. (2020). Automatic Grasping Using Tactile Sensing and Deep Calibration. In: Arai, K., Bhatia, R., Kapoor, S. (eds) Proceedings of the Future Technologies Conference (FTC) 2019. FTC 2019. Advances in Intelligent Systems and Computing, vol 1069. Springer, Cham. https://doi.org/10.1007/978-3-030-32520-6_14

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