An enhanced edge tracking method using a low resolution tactile sensor

• Published in: International journal of control, automation, and systems Vol. 8; no. 2; pp. 462 - 467
• Main Authors: Phung, Tri Cong, Ihn, Yong Seok, Koo, Ja Choon, Choi, Hyouk Ryeol
• Format: Journal Article
• Language: English
• Published: Heidelberg Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers 01.04.2010; Springer Nature B.V; 제어·로봇·시스템학회
• Subjects: Accuracy; Algorithms; Control; Edge detection; Engineering; Manufacturing; Manufacturing costs; Mathematical analysis; Mechatronics; Receiving; Robotics; Robots; Sensors; Signal processing; Tactile; Technical Notes and Correspondence; Tracking; 제어계측공학; tactile sensor; Edge detection; resolution; edge tracking algorithm
• ISSN: 1598-6446; 2005-4092
• DOI: 10.1007/s12555-010-0235-3

Edge detection plays an important role in object recognition and exploration. In this paper, we propose an efficient tracking algorithm, which uses a coarse resolution tactile sensor set, for edge detection of a 2D shape object. Although many researchers have often used a tactile sensor with high resolution such as a 10×10 or higher for edge detection, in this research, we use a 2×2 tactile sensor to track the edges of an object. Using this type of low resolution sensor, we can reduce the manufacturing cost of the sensor and simplify the calculation and control process. In our algorithm, we only need to control the sensor to make it move along the vertical axis, Oy, or the horizontal axis, Ox. The sensor is moved along a suitable direction according to the sensing signals receiving from it. A set of simulations for both convex and concave shapes has been done to verify the algorithm. In addition, methods to increase the accuracy of the algorithm are also discussed.