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A neural approach to robotic haptic recognition of 3-D objects based on a Kohonen self-organizing feature map

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4 Author(s)
Caselli, S. ; Dipartimento di Ingegneria dell''Inf., Parma Univ., Italy ; Faldella, E. ; Fringuelli, B. ; Rosi, L.

The paper describes a versatile robotic haptic recognition system of 3D objects. The design methodology features a learning phase of the geometric properties of the objects, followed by the operative phase of actual recognition in which the robot explores the objects with its end-effector, correlating the sensorial data with the preceding perceptive experiences. These phases are mapped on the training and classification activities typical of the unsupervised Kohonen neural networks. The system consists of a dexterous 3-fingered, 10-DOF robotic hand. In a primary trial test, the developed prototype system has already shown a satisfactory operative level in recognizing objects

Published in:

Industrial Electronics, Control and Instrumentation, 1994. IECON '94., 20th International Conference on  (Volume:2 )

Date of Conference:

5-9 Sep 1994

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