Using entropy for dimension reduction of tactile data

Tactile sensing arrays for robotic applications become more and more popular these days. This allows us to equip robots with sensing abilities similar to those of our human skin. This paper presents an approach to tactile-based recognition of objects and evaluates the utility of various feature extr...

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Bibliographic Details
Published in:2009 International Conference on Advanced Robotics : 22-26 June 2009 pp. 1 - 6
Main Authors: Schopfer, M., Pardowitz, M., Ritter, H.
Format: Conference Proceeding
Language:English
Published: IEEE 01.06.2009
Subjects:
Decision trees
Entropy
Feature extraction
Humans
Robot sensing systems
Sensor arrays
Signal processing algorithms
Skin
Spatial databases
Tactile sensors
ISBN:9781424448555, 1424448557
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Summary:Tactile sensing arrays for robotic applications become more and more popular these days. This allows us to equip robots with sensing abilities similar to those of our human skin. This paper presents an approach to tactile-based recognition of objects and evaluates the utility of various feature extractors for tactile processing. Extracting these features from a tactile database, we describe a system that combines a discretization step with the well-known C4.5 algorithm in an object classification task. We analyse the usefulness of the features in terms of entropy-based considerations taking into account the generated decision trees and report our results that give important hints for feature selection.
ISBN:9781424448555
1424448557