Cerebellum-based adaptation for fine haptic control over the space of uncertain surfaces

Hector Barron-Gonzalez, John Porrill, Nathan F. Lepora, Eris Chinellato, Giorgio Metta, Tony J. Prescott

Research output: Chapter in Book/Report/Conference proceedingConference Contribution (Conference Proceeding)

2 Citations (Scopus)

Abstract

This work aims to augment the capacities for haptic perception in the iCub robot to generate a controller for surface exploration. The main task involves moving the hand over an irregular surface with uncertain slope, by concurrently regulating the pressure of the contact. Providing this ability will enable the autonomous extraction of important haptic features, such as texture and shape. We propose a hand controller whose operational space is defined over the surface of contact. The surface is estimated using a robust probabilistic estimator, which is then used for path planning. The motor commands are generated using a feedback controller, taking advantage of the kinematic information available by proprioception. Finally, the effectiveness of this controller is extended using a cerebellar-like adapter that generates reliable pressure tracking over the finger and results in a trajectory with less vulnerability to perturbations. The results of this work are consistent with insights about the role of the cerebellum on haptic perception in humans.

Original languageEnglish
Title of host publication2013 World Haptics Conference, WHC 2013
Pages353-358
Number of pages6
DOIs
Publication statusPublished - 2013
Event2013 IEEE World Haptics Conference, WHC 2013 - Daejeon, Korea, Republic of
Duration: 14 Apr 201317 Apr 2013

Conference

Conference2013 IEEE World Haptics Conference, WHC 2013
CountryKorea, Republic of
CityDaejeon
Period14/04/1317/04/13

Keywords

  • Haptic perception
  • robot sensorimotor control
  • tactile exploration

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