International Workshop on Robotac: New Progress in Tactile Perception and Learning in RoboticsNovel tactile sensors allow treating pressure lectures as standard images due to its highresolution. Therefore, computer vision algorithms such as Convolutional Neural Networks
(CNNs) can be used to identify objects in contact. In this work, a high-resolution tactile
sensor has been attached to a robotic end-effector to identify objects in contact. Moreover,
two CNNs-based approaches have been tested in an experiment of classification of pressure
images. These methods include a transfer learning approach using a pre-trained CNN on an
RGB images dataset and a custom-made CNN trained from scratch with tactile information.
A comparative study of performance between them has been carried out.Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech. Spanish project DPI2015-65186-R, the European Commission under grant agreement BES-2016-078237, the educational project PIE-118 of the
University of Malag
