TY - GEN
T1 - A decision method for the placement of tactile sensors for manipulation task recognition
AU - Matsuo, Kazuya
AU - Murakami, Kouji
AU - Hasegawa, Tsutomu
AU - Kurazume, Ryo
PY - 2008
Y1 - 2008
N2 - The present paper describes a decision method for the placement of tactile elements for manipulation task recognition. Based on the mutual information of the manipulation tasks and tactile information, an effective placement of tactile elements on a sensing glove is determined. Although the effective placement consists of a small number of tactile elements, it has a recognition performance that is as high as that of a placement consisting of many tactile elements. The effective placement of tactile elements decided by the proposed method has been evaluated through experiments involving the recognition of grasp type from grasp taxonomy defined by Kamakura [1].
AB - The present paper describes a decision method for the placement of tactile elements for manipulation task recognition. Based on the mutual information of the manipulation tasks and tactile information, an effective placement of tactile elements on a sensing glove is determined. Although the effective placement consists of a small number of tactile elements, it has a recognition performance that is as high as that of a placement consisting of many tactile elements. The effective placement of tactile elements decided by the proposed method has been evaluated through experiments involving the recognition of grasp type from grasp taxonomy defined by Kamakura [1].
UR - http://www.scopus.com/inward/record.url?scp=51649114077&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=51649114077&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2008.4543436
DO - 10.1109/ROBOT.2008.4543436
M3 - Conference contribution
AN - SCOPUS:51649114077
SN - 9781424416479
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 1641
EP - 1646
BT - 2008 IEEE International Conference on Robotics and Automation, ICRA 2008
T2 - 2008 IEEE International Conference on Robotics and Automation, ICRA 2008
Y2 - 19 May 2008 through 23 May 2008
ER -