Martinez-Hernandez, U., Dodd, T.J. orcid.org/0000-0001-6820-4526, Natale, L. et al. (3 more authors) (2013) Active contour following to explore object shape with robot touch. In: World Haptics Conference (WHC), 2013. 2013 World Haptics Conference (WHC), April 14 - 18, 2013, Daejeon, Korea. IEEE , pp. 341-346. ISBN 978-1-4799-0087-9
Abstract
In this work, we present an active tactile perception approach for contour following based on a probabilistic framework. Tactile data were collected using a biomimetic fingertip sensor. We propose a control architecture that implements a perception-action cycle for the exploratory procedure, which allows the fingertip to react to tactile contact whilst regulating the applied contact force. In addition' the fingertip is actively repositioned to an optimal position to ensure accurate perception. The method is trained off-line and then the testing performed on-line based on contour following around several different test shapes. We then implement object recognition based on the extracted shapes. Our active approach is compared with a passive approach, demonstrating that active perception is necessary for successful contour following and hence shape recognition.
Metadata
Item Type: | Proceedings Paper |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2013 by the Institute of Electrical and Electronics Engineers, Inc. This is an author produced version of a paper subsequently published in World Haptics Conference (WHC), 2013. Uploaded in accordance with the publisher's self-archiving policy. |
Keywords: | perception-action; active tactile perception; tactile exploration; naive Bayes classifier; contour following; robotic finger |
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 15:04 |
Last Modified: | 12 Apr 2017 06:49 |
Published Version: | https://doi.org/10.1109/WHC.2013.6548432 |
Status: | Published |
Publisher: | IEEE |
Refereed: | Yes |
Identification Number: | 10.1109/WHC.2013.6548432 |
Related URLs: | |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:108442 |