Texture Recognition Based on Perception Data from a Bionic Tactile Sensor

摘要

Texture recognition is important for robots to discern the characteristics of the object surface and adjust grasping and manipulation strategies accordingly. It is still challenging to develop texture classification approaches that are accurate and do not require high computational costs. In this work, we adopt a bionic tactile sensor to collect vibration data while sliding against materials of interest. Under a fixed contact pressure and speed, a total of 1000 sets of vibration data from ten different materials were collected. With the tactile perception data, four types of texture recognition algorithms are proposed. Three machine learning algorithms, including support vector machine, random forest, and K-nearest neighbor, are established for texture recognition. The test accuracy of those three methods are 95%, 94%, 94%, respectively. In the detection process of machine learning algorithms, the asamoto and polyester are easy to be confused with each other. A convolutional neural network is established to further increase the test accuracy to 98.5%. The three machine learning models and convolutional neural network demonstrate high accuracy and excellent robustness.