Lepora, N.F., Martinez-Hernandez, U. and Prescott, T.J. orcid.org/0000-0003-4927-5390 (2013) Active touch for robust perception under position uncertainty. In: 2013 IEEE International Conference on Robotics and Automation. IEEE International Conference on Robotics and Automation, 06-10 May 2013, Karlsruhe, Germany. IEEE , pp. 3020-3025. ISBN 9781467356435
Abstract
In this paper, we propose that active perception will help attain autonomous robotics in unstructured environments by giving robust perception. We test this claim with a biomimetic fingertip that senses surface texture under a range of contact depths. We compare the performance of passive Bayesian perception with a novel approach for active perception that includes a sensorimotor loop for controlling sensor position. Passive perception at a single depth gave poor results, with just 0.2mm uncertainty impairing performance. Extending passive perception over a range of depths gave non-robust performance. Only active perception could give robust, accurate performance, with the sensorimotor feedback compensating the position uncertainty. We expect that these results will extend to other stimuli, so that active perception will offer a general approach to robust perception in unstructured environments.
Metadata
Item Type: | Proceedings Paper |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2013 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. Reproduced 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 Engineering (Sheffield) > Department of Computer Science (Sheffield) The University of Sheffield > Faculty of Science (Sheffield) > Department of Psychology (Sheffield) |
Funding Information: | Funder Grant number Engineering and Physical Science Research Council EP/I032533/1 European Commission - FP6/FP7 EFAA - 270490 |
Depositing User: | Symplectic Sheffield |
Date Deposited: | 13 Jan 2020 14:03 |
Last Modified: | 14 Jan 2020 23:36 |
Status: | Published |
Publisher: | IEEE |
Refereed: | Yes |
Identification Number: | 10.1109/ICRA.2013.6630996 |
Related URLs: | |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:155158 |