Martinez-Hernandez, U., Lepora, N.F. and Prescott, T.J. (2015) Active Control for Object Perception and Exploration with a Robotic Hand. In: Biomimetic and Biohybrid Systems. 4th International Conference, Living Machines 2015, July 28 - 31, 2015, Barcelona, Spain. Lecture Notes in Computer Science, 9222 . Springer International Publishing , pp. 415-428. ISBN 978-3-319-22978-2
Abstract
We present an investigation on active control for intelligent object exploration using touch with a robotic hand. First, uncertainty from the exploration is reduced by a probabilistic method based on the accumulation of evidence through the interaction with an object of interest. Second, an intrinsic motivation approach allows the robot hand to perform intelligent active control of movements to explore interesting locations of the object. Passive and active perception and exploration were implemented in simulated and real environments to compare their benefits in accuracy and reaction time. The validation of the proposed method were performed with an object recognition task, using a robotic platform composed by a three-fingered robotic hand and a robot table. The results demonstrate that our method permits the robotic hand to achieve high accuracy for object recognition with low impact on the reaction time required to perform the task. These benefits make our method suitable for perception and exploration in autonomous robotics.
Metadata
Item Type: | Proceedings Paper |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2015 Springer International Publishing Switzerland. This is an author produced version of a paper subsequently published in Lecture Notes in Computer Science. Uploaded in accordance with the publisher's self-archiving policy. |
Keywords: | Tactile sensing; Active perception; Tactile exploration; Robotics |
Dates: |
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Institution: | The University of Sheffield |
Academic Units: | The University of Sheffield > Faculty of Science (Sheffield) > Department of Psychology (Sheffield) |
Depositing User: | Symplectic Sheffield |
Date Deposited: | 21 Feb 2017 13:18 |
Last Modified: | 12 Apr 2017 03:42 |
Published Version: | https://doi.org/10.1007/978-3-319-22979-9_42 |
Status: | Published |
Publisher: | Springer International Publishing |
Series Name: | Lecture Notes in Computer Science |
Refereed: | Yes |
Identification Number: | 10.1007/978-3-319-22979-9_42 |
Related URLs: | |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:108451 |