Martinez-Hernandez, U., Dodd, T.J. orcid.org/0000-0001-6820-4526, Evans, M. et al. (2 more authors) (2017) Active sensorimotor control for tactile exploration. Robotics and Autonomous Systems, 87. pp. 15-27. ISSN 0921-8890
Abstract
In this paper, we present a novel and robust Bayesian approach for autonomous active exploration of unknown objects using tactile perception and sensorimotor control. Despite recent advances in tactile sensing, robust active exploration remains a challenging problem, which is a major hurdle to the practical deployment of tactile sensors in robots. Our proposed approach is based on a Bayesian perception method that actively controls the sensor with local small repositioning movements to reduce perception uncertainty, followed by explorative movements based on the outcome of each perceptual decision making step. Two sensorimotor control strategies are proposed for improving the accuracy and speed of the active exploration that weight the evidence from previous exploratory steps through either a weighted prior or weighted posterior. The methods are validated both off-line and in real-time on a contour following exploratory procedure. Results clearly demonstrate improvements in both accuracy and exploration time when using the proposed active methods compared to passive perception. Our work demonstrates that active perception has the potential to enable robots to perform robust autonomous tactile exploration in natural environments.
Metadata
Item Type: | Article |
---|---|
Authors/Creators: |
|
Copyright, Publisher and Additional Information: | © 2016 Elsevier. This is an author produced version of a paper subsequently published in Robotics and Autonomous Systems. Uploaded in accordance with the publisher's self-archiving policy. Article available under the terms of the CC-BY-NC-ND licence (https://creativecommons.org/licenses/by-nc-nd/4.0/) |
Keywords: | Active tactile sensing; Bayesian perception; Sensorimotor control; Tactile exploration |
Dates: |
|
Institution: | The University of Sheffield |
Academic Units: | The University of Sheffield > Faculty of Engineering (Sheffield) > Department of Automatic Control and Systems Engineering (Sheffield) |
Depositing User: | Symplectic Sheffield |
Date Deposited: | 12 Oct 2016 15:44 |
Last Modified: | 03 Oct 2017 18:19 |
Published Version: | http://dx.doi.org/10.1016/j.robot.2016.09.014 |
Status: | Published |
Publisher: | Elsevier |
Refereed: | Yes |
Identification Number: | 10.1016/j.robot.2016.09.014 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:105911 |
Download
Filename: Active sensorimotor control for tactile exploration_unformatted_and_unedited.pdf
Licence: CC-BY-NC-ND 4.0