Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Robotic Perception of Object Properties using Tactile Sensing   The sense of touch plays a key role in enabling humans to understand and
interact with surrounding environments. For robots, tactile sensing is also
irreplaceable. While interacting with objects, tactile sensing provides useful
information for the robot to understand the object, such as distributed
pressure, temperature, vibrations and texture. During robot grasping, vision is
often occluded by its end-effectors, whereas tactile sensing can measure areas
that are not accessible by vision. In the past decades, a number of tactile
sensors have been developed for robots and used for different robotic tasks. In
this chapter, we focus on the use of tactile sensing for robotic grasping and
investigate the recent trends in tactile perception of object properties. We
first discuss works on tactile perception of three important object properties
in grasping, i.e., shape, pose and material properties. We then review the
recent development in grasping stability prediction with tactile sensing. Among
these works, we identify the requirement for coordinating vision and tactile
sensing in the robotic grasping. To demonstrate the use of tactile sensing to
improve the visual perception, our recent development of vision-guided tactile
perception for crack reconstruction is presented. In the proposed framework,
the large receptive field of camera vision is first leveraged to achieve a
quick search of candidate regions containing cracks, a high-resolution optical
tactile sensor is then used to examine these candidate regions and reconstruct
a refined crack shape. The experiments show that our proposed method can
achieve a significant reduction of mean distance error from 0.82 mm to 0.24 mm
for crack reconstruction. Finally, we conclude this chapter with a discussion
of open issues and future directions for applying tactile sensing in robotic
tasks.

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The categories of this paper are: econ
15
The categories of this paper are: nucl-ex
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The categories of this paper are: q-fin
25
The categories of this paper are: patt-sol
3
The categories of this paper are: physics
20
The categories of this paper are: acc-phys
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The categories of this paper are: dg-ga
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The categories of this paper are: alg-geom
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The categories of this paper are: mtrl-th
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The categories of this paper are: supr-con
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The categories of this paper are: q-bio
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The categories of this paper are: hep-lat
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The categories of this paper are: chem-ph
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The categories of this paper are: stat
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The categories of this paper are: astro-ph
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The categories of this paper are: solv-int