Haptic Object Recognition

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There is consensus in the scientific literature that the development of a more human-like haptic perception capability is an indispensable requirement for the design of a new generation of intelligent robots for advanced applications. Rising up to this challenge, this proposal will investigate and develop new and more efficient methods for real-time robotic haptic object recognition that can help raise the level of tactile sensitivity and acuity of robots closer to the human level. The main objective of the proposed research is to develop new computational-intelligence algorithms for real-time robotic haptic perception of touched object-surface topology and for model-based haptic-only 3D object recognition. More specifically, new algorithms will be developed for the integration of tactile sensor images and kinaesthetic sensor data collected through robotic haptic exploration of 3D objects. Task-driven active-sensing methods will be investigated to allow for an efficient use of inherently limited tactile sensing capabilities. New intelligent control algorithms for concurrent position & force control of the robot manipulator will be developed. Novel computational intelligence methods for model-based haptic recognition of 3D objects using topological features recovered from haptic images will be also developed. The proposed research will contribute much needed scientific knowledge and technological innovation to help raise the tactile sensitivity and acuity of robots closer to the human range by providing practical solutions that will minimize the haptic probing effort while maximizing the object recognition efficiency for a wider set of objects than possible today. All these will allow for the development of a new generation of intelligent robots able to perform complex manipulation operations under poor or nonexistent visibility conditions, such as underwater, in hazardous or high-risk operational environments - as for instance maintenance in nuclear plants and disposal of explosive devices, or in telemedicine - where touch feeling is of paramount importance.