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Tactile object class and internal state (1)

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Fig. 1.Left:A mobile manipulation robot grasping a bottle estimatesthe internal state of the grasped object from its tactile appearance
Fig. 2.The set of features chosen for use in the recognition task.
Fig. 4.Left: The experimental setup showing the gripper mounted ona stand. Right:Some of the bottles and cans used for our experiments.From left to right: Odwalla fruit juice bottle, water bottle, Naked fruit juicebottle, Coke can.
Fig. 6.Fingertip distance and fingertip force vs. time plots showing thereduced impact forces using the hybrid controller

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Tactile object class and internal state (1)

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