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Object Classification Using Robotic Manipulator Instrumented With Sensors

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2008 Annual Conference & Exposition


Pittsburgh, Pennsylvania

Publication Date

June 22, 2008

Start Date

June 22, 2008

End Date

June 25, 2008



Conference Session

Developing New Instrumentation

Tagged Division


Page Count


Page Numbers

13.938.1 - 13.938.2



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Paper Authors

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Nicholas Dadds USNA

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Svetlana Avramov-Zamurovic U.S. Department of Defense

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NOTE: The first page of text has been automatically extracted and included below in lieu of an abstract

Object Classification through Tactile Sensing

Nicholas A. Dadds and Dr. Svetlana Avramov-Zamurovic United States Naval Academy Department of Weapons & Systems Engineering

The goal of this project is to classify objects based on their individual characteristics.

This project will span over two semesters in which the first semester will be used to research

state of the art sensor technology, specify desired object properties, acquire necessary sensors,

and calculate a useful calibration curve for each sensor. The second semester will be used to

design an end-effectors capable of housing the sensors and successfully interacting with the

target object to obtain useful data. The three selected object properties are material type,

roughness and temperature. The capacitive sensor to be used will consist of a section of ribbon

cable which will allow us to initially place the object into one of five material type categories:

metal, wood, plastic, cloth etc.The roughness sensor to be used will consist of a phonograph

needle which we will calibrate to determine the surface characteristics of the target object.

Lastly, we will include a resistive sensor to obtain the objects temperature.

Dadds, N., & Avramov-Zamurovic, S. (2008, June), Object Classification Using Robotic Manipulator Instrumented With Sensors Paper presented at 2008 Annual Conference & Exposition, Pittsburgh, Pennsylvania. 10.18260/1-2--4065

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