Lepora, N.F., Martinez-Hernandez, U., Barron-Gonzalez, H. et al. (3 more authors) (2012) Embodied hyperacuity from Bayesian perception: Shape and position discrimination with an iCub fingertip sensor. In: Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on. 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 07-12 Oct 2012, Vilamoura-Algarve, Portugal. IEEE , pp. 4638-4643. ISBN 978-1-4673-1737-5
Abstract
Recent advances in modeling animal perception has motivated an approach of Bayesian perception applied to biomimetic robots. This study presents an initial application of Bayesian perception on an iCub fingertip sensor mounted on a dedicated positioning robot. We systematically probed the test system with five cylindrical stimuli offset by a range of positions relative to the fingertip. Testing the real-time speed and accuracy of shape and position discrimination, we achieved sub-millimeter accuracy with just a few taps. This result is apparently the first explicit demonstration of perceptual hyperacuity in robot touch, in that object positions are perceived more accurately than the taxel spacing. We also found substantial performance gains when the fingertip can reposition itself to avoid poor perceptual locations, which indicates that improved robot perception could mimic active perception in animals.
Metadata
Item Type: | Proceedings Paper |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2012 IEEE. This is an author produced version of a paper subsequently published in Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on. Uploaded in accordance with the publisher's self-archiving policy. |
Dates: |
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Institution: | The University of Sheffield |
Academic Units: | The University of Sheffield > Faculty of Engineering (Sheffield) > Department of Automatic Control and Systems Engineering (Sheffield) The University of Sheffield > Faculty of Science (Sheffield) > Department of Psychology (Sheffield) |
Depositing User: | Symplectic Sheffield |
Date Deposited: | 21 Feb 2017 15:39 |
Last Modified: | 19 Dec 2022 13:34 |
Published Version: | https://doi.org/10.1109/IROS.2012.6385649 |
Status: | Published |
Publisher: | IEEE |
Refereed: | Yes |
Identification Number: | 10.1109/IROS.2012.6385649 |
Related URLs: | |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:108439 |