Martinez-Hernandez, U, Dodd, T, Prescott, TJ et al. (1 more author) (2013) Active Bayesian perception for angle and position discrimination with a biomimetic fingertip. In: 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE International Conference on Intelligent Robots and Systems, 5968 - 5973, Tokyo, Japan. IEEE , pp. 5968-5973. ISBN 9781467363587
Abstract
In this work, we apply active Bayesian perception to angle and position discrimination and extend the method to perform actions in a sensorimotor task using a biomimetic fingertip. The first part of this study tests active perception off-line with a large dataset of edge orientations and positions, using a Monte Carlo validation to ascertain the classification accuracy. We observe a significant improvement over passive methods that lack a sensorimotor loop for actively repositioning the sensor. The second part of this study then applies these findings about active perception to an example sensorimotor task in real-time. Using an appropriate online sensorimotor control architecture, the robot made decisions about what to do next and where to move next, which was applied to a contour-following task around several objects. The successful outcome of this simple but illustrative task demonstrates that active perception can be of practical benefit for tactile robotics.
Metadata
Item Type: | Proceedings Paper |
---|---|
Authors/Creators: |
|
Dates: |
|
Institution: | The University of Leeds |
Academic Units: | The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Mechanical Engineering (Leeds) > Institute of Engineering Systems and Design (iESD) (Leeds) |
Depositing User: | Symplectic Publications |
Date Deposited: | 11 Aug 2016 11:21 |
Last Modified: | 03 Nov 2016 02:25 |
Published Version: | http://dx.doi.org/10.1109/IROS.2013.6697222 |
Status: | Published |
Publisher: | IEEE |
Identification Number: | 10.1109/IROS.2013.6697222 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:102319 |