Multimodal Haptic Perception during Incidental Contact

Speaker: Tapomayukh Bhattacharjee , Georgia Institute of Technology

Date: Friday, April 07, 2017

Time: 2:00 PM to 3:00 PM Note: all times are in the Eastern Time Zone

Public: Yes

Location: Seminar Room D507

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Host: Edward Adelson, CSAIL

Contact: Wenzhen Yuan, yuan_wz@csail.mit.edu

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Reminders to: seminars@csail.mit.edu, robotics@mit.edu

Reminder Subject: TALK: Multimodal Haptic Perception during Incidental Contact

Abstract: Robotics research has often focused on avoiding contact with the environment, except at well-modeled locations. Most haptics research has used information from contact based on deliberate exploration where the actions are optimized for sensing. However, during manipulation in unstructured environments many opportunities arise to exploit incidental contact. By incidental contact, we mean contact that is not central to the robot’s current actions and may occur unexpectedly or unintentionally. We are developing methods for haptic perception using force, motion, thermal, and visual sensing during incidental contact. We focus on two main challenges of haptics research: a data shortage and generalizing perception results to new situations.

To address the shortage of data, we are developing various physics-based models to generate synthetic data, multiple simplified robots and stretchable fabric-based sensors to collect data from real objects, and a portable handheld human-operated device to collect data from real objects in their natural settings. Using data-driven methods and physics-based models, our algorithms successfully categorized various objects into relevant haptic categories.

To address the challenge of generalizing the performance of haptic perception, we are developing methods to extend our algorithm’s performance to different incidental contact conditions with varying robot-arm stiffness, robot-arm velocity, and time-scales of interaction. We are also developing strategies to simplify the problem of perception by having the robot distinguish among a small number of task-relevant categories such as tactile foreground vs. background.

Bio: Tapomayukh (Tapo) Bhattacharjee received the B. Tech. degree from the Department of Mechanical Engineering, National Institute of Technology, Calicut, India, and the M.S. degree from the Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, Korea. He is currently a Robotics Ph.D. Candidate in the Georgia Institute of Technology, Atlanta. He also worked as a Visiting Scientist with the Interaction and Robotics Research Center, Korea Institute of Science and Technology (KIST), Seoul, Korea. His research interests include haptic perception, tactile sensing, robotic manipulation, machine learning, human-robot interaction, and teleoperation systems.

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Created by Wenzhen Yuan Email at Tuesday, April 04, 2017 at 10:12 AM.