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	Linear dynamic system method for tactile object classification
	MA Rui ; LIU HuaPing ; SUN FuChun ; YANG QingFen ; GAO Meng ; MA Rui ; LIU HuaPing ; SUN FuChun ; YANG QingFen ; GAO Meng
	2016-03-30 ; 2016-03-30
关键词	tactile sequence linear dynamic system bag-of-system extreme learning machine classification TP242
其他题名	Linear dynamic system method for tactile object classification
中文摘要	Lots of tactile sequences can be obtained by using a dexterous hand for grasping different objects.The ability of robotic environmental perception and dexterous manipulation will be significantly improved after these tactile sequences are correctly classified.Therefore,tactile sequences are separated into series of subgroups,and a method based on linear dynamical system(LDS)is used to extract features.Since these LDSs lie in nonEuclidean space,the Martin distance,which is a measurement different from Euclidean distance,is applied to calculate the distance between two LDSs,and the K-Medoid algorithm is used for clustering.The codebook is obtained after clustering and is used to represent time sequences to get a Bag-of-System(Bo S).Then the Bo S and labels are sent to Extreme Learning Machine(ELM)to train a classifier.Finally,three databases,KTH-7,KTH-10 and TSH-8 are used to evaluate our algorithm.; Lots of tactile sequences can be obtained by using a dexterous hand for grasping different objects.The ability of robotic environmental perception and dexterous manipulation will be significantly improved after these tactile sequences are correctly classified. Therefore, tactile sequences are separated into series of subgroups,and a method based on linear dynamical system(LDS) is used to extract features. Since these LDSs lie in nonEuclidean space, the Martin distance, which is a measurement different from Euclidean distance, is applied to calculate the distance between two LDSs, and the K-Medoid algorithm is used for clustering. The codebook is obtained after clustering and is used to represent time sequences to get a Bag-of-System(Bo S). Then the Bo S and labels are sent to Extreme Learning Machine(ELM) to train a classifier. Finally, three databases, KTH-7,KTH-10 and TSH-8 are used to evaluate our algorithm.
语种	英语 ; 英语
内容类型	期刊论文
源URL	[http://ir.lib.tsinghua.edu.cn/ir/item.do?handle=123456789/146919]
专题	清华大学
推荐引用方式 GB/T 7714	MA Rui,LIU HuaPing,SUN FuChun,et al. Linear dynamic system method for tactile object classification[J],2016, 2016.
APA	MA Rui.,LIU HuaPing.,SUN FuChun.,YANG QingFen.,GAO Meng.,...&GAO Meng.(2016).Linear dynamic system method for tactile object classification..
MLA	MA Rui,et al."Linear dynamic system method for tactile object classification".(2016).

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