Martinez-Hernandez, U., Dodd, T. orcid.org/0000-0001-6820-4526, Prescott, T.J. orcid.org/0000-0003-4927-5390 et al. (1 more author) (2014) Active Bayesian perception for angle and position discrimination with a biomimetic fingertip. In: IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems, 03-07 Nov 2013, Tokyo, Japan. IEEE , pp. 5968-5973. ISBN 9781467363587
Abstract
In this work, we apply active Bayesian perception to angle and position discrimination and extend the method to perform actions in a sensorimotor task using a biomimetic fingertip. The first part of this study tests active perception off-line with a large dataset of edge orientations and positions, using a Monte Carlo validation to ascertain the classification accuracy. We observe a significant improvement over passive methods that lack a sensorimotor loop for actively repositioning the sensor. The second part of this study then applies these findings about active perception to an example sensorimotor task in real-time. Using an appropriate online sensorimotor control architecture, the robot made decisions about what to do next and where to move next, which was applied to a contour-following task around several objects. The successful outcome of this simple but illustrative task demonstrates that active perception can be of practical benefit for tactile robotics.
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 European Commission - FP6/FP7 EFAA - 270490 |
Depositing User: | Symplectic Sheffield |
Date Deposited: | 13 Jan 2020 15:27 |
Last Modified: | 15 Jan 2020 04:02 |
Status: | Published |
Publisher: | IEEE |
Refereed: | Yes |
Identification Number: | 10.1109/IROS.2013.6697222 |
Related URLs: | |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:155163 |