Active Clothing Material Perception using Tactile Sensing and Deep Learning

Wenzhen Yuan, Yuchen Mo, Shaoxiong Wang, and Edward H. Adelson


Abstract

Humans represent and discriminate the objects in the same category using their properties, and an intelligent robot should be able to do the same. In this paper, we build a robot system that can autonomously perceive the object properties through touch. We work on the common object category of clothing. The robot moves under the guidance of an external Kinect sensor, and squeezes the clothes with a GelSight tactile sensor, then it recognizes the 11 properties of the clothing according to the tactile data. Those properties include the physical properties, like thickness, fuzziness, softness and durability, and semantic properties, like wearing season and preferred washing methods. We collect a dataset of 153 varied pieces of clothes, and conduct 6616 robot exploring iterations on them. To extract the useful information from the high-dimensional sensory output, we applied Convolutional Neural Networks (CNN) on the tactile data for recognizing the clothing properties, and on the Kinect depth images for selecting exploration locations. Experiments show that using the trained neural networks, the robot can autonomously explore the unknown clothes and learn their properties. This work proposes a new framework for active tactile perception system with vision-touch system, and has potential to enable robots to help humans with varied clothing related housework.

Information

title:
Active Clothing Material Perception using Tactile Sensing and Deep Learning
author:
Wenzhen Yuan,
Yuchen Mo,
Shaoxiong Wang,
and Edward H. Adelson
citation:
Robotics and Automation (ICRA), 2018 IEEE International Conference on arXiv:1711.00574v2
shortcite:
arXiv:1711.00574v2
year:
2018
created:
2018-02-25
keyword:
adelson,
wenzhen,
shaoxiong,
yuchen
www:
http://persci.mit.edu/pub_abstracts/active-clothing-material-perception-using-tactile-sensing-and-deep-learning.html
pdf:
https://arxiv.org/pdf/1711.00574.pdf
pageid:
active-clothing-material-perception-using-tactile-sensing-and-deep-learning
type:
publication
 
pub_abstracts/active-clothing-material-perception-using-tactile-sensing-and-deep-learning.html.txt · Last modified: 2018/12/20 20:11 by elmer