To integrate robot manipulators in every day life, robots need to be able to handle complex situations and scenarios ideally up to the level of humans. The processing of sensory data is vital for a good performance in unstructured environments. This paper presents an approach to handle spartio-temporal tactile time-series. A set of features is extracted in an off-line experimental setup using a tactile database. The results are then verified using the Schunk Dexterous Hand (SDH-2) in a short experimental setup.
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