Evaluation of a grey scale tactile array sensor pad for robotic applications

摘要

Abstract Since sensory feedback is an important part of robot control and the acquisition, manipulation, and recognition of objects, incorporating a sense of touch into a robotic system can greatly enhance the performance of that system. This article describes the evaluation of a recently developed low‐resolution tactile array sensor pad system for use in robotic applications. Computer algorithms are developed which acquire data from the sensor pad and display the data on a CRT screen. Vision algorithms are implemented in order to extract the necessary information from the tactile data which will aid in the acquisition, manipulation, and recognition of objects. An object's pose is estimated by calculating its center of gravity (position) and principal axis (orientation). Recognizing an object and distinguishing between different objects is accomplished by implementing algorithms which estimate an object's perimeter (shape) and area (size). This work demonstrates that a low‐resolution tactile array sensor is capable of providing the information that is required for many robotic applications in which objects must be acquired, manipulated, and recognized. Such a system provides a low‐cost alternative to more conventional vision‐based systems.