Tactile Exploration by Contour Following Using a Biomimetic Fingertip

Nicholas Pestell; Benjamin Ward-Cherrier; Luke Cramphorn; Nathan F. Lepora

doi:10.1007/978-3-319-42417-0_51

Abstract

Humans use a contour following exploratory procedure to estimate object shape by touch. Here we demonstrate autonomous robotic contour following with a biomimetic tactile fingertip, the TacTip, using an active touch method previously developed for other types of touch sensors. We use Bayesian sequential analysis for perception and implement an active control strategy to follow an object contour. The technique is tested on a 110 mm diameter circle and yields results comparable with those previously achieved for other tactile sensors. We intend to extend the work onto a different robot platform with improved trajectory control to improve robustness, speed and match with human performance.

Original language	English
Pages	485-489
Number of pages	5
DOIs	https://doi.org/10.1007/978-3-319-42417-0_51
Publication status	Published - 2016
Event	5th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2016 - Edinburgh, United Kingdom Duration: 19 Jul 2016 → 22 Jul 2016

Conference

Conference	5th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2016
Country/Territory	United Kingdom
City	Edinburgh
Period	19/07/16 → 22/07/16

Keywords

Tactile sensors
Bayesion perceptions

Access to Document

10.1007/978-3-319-42417-0_51

Handle.net

Persistent link

Cite this

@conference{93c0d4e080d648bcb99752353ec06152,

title = "Tactile Exploration by Contour Following Using a Biomimetic Fingertip",

abstract = "Humans use a contour following exploratory procedure to estimate object shape by touch. Here we demonstrate autonomous robotic contour following with a biomimetic tactile fingertip, the TacTip, using an active touch method previously developed for other types of touch sensors. We use Bayesian sequential analysis for perception and implement an active control strategy to follow an object contour. The technique is tested on a 110 mm diameter circle and yields results comparable with those previously achieved for other tactile sensors. We intend to extend the work onto a different robot platform with improved trajectory control to improve robustness, speed and match with human performance.",

keywords = "Tactile sensors, Bayesion perceptions",

author = "Nicholas Pestell and Benjamin Ward-Cherrier and Luke Cramphorn and Lepora, {Nathan F.}",

year = "2016",

doi = "10.1007/978-3-319-42417-0_51",

language = "English",

pages = "485--489",

note = "5th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2016 ; Conference date: 19-07-2016 Through 22-07-2016",

}

TY - CONF

T1 - Tactile Exploration by Contour Following Using a Biomimetic Fingertip

AU - Pestell, Nicholas

AU - Ward-Cherrier, Benjamin

AU - Cramphorn, Luke

AU - Lepora, Nathan F.

PY - 2016

Y1 - 2016

N2 - Humans use a contour following exploratory procedure to estimate object shape by touch. Here we demonstrate autonomous robotic contour following with a biomimetic tactile fingertip, the TacTip, using an active touch method previously developed for other types of touch sensors. We use Bayesian sequential analysis for perception and implement an active control strategy to follow an object contour. The technique is tested on a 110 mm diameter circle and yields results comparable with those previously achieved for other tactile sensors. We intend to extend the work onto a different robot platform with improved trajectory control to improve robustness, speed and match with human performance.

AB - Humans use a contour following exploratory procedure to estimate object shape by touch. Here we demonstrate autonomous robotic contour following with a biomimetic tactile fingertip, the TacTip, using an active touch method previously developed for other types of touch sensors. We use Bayesian sequential analysis for perception and implement an active control strategy to follow an object contour. The technique is tested on a 110 mm diameter circle and yields results comparable with those previously achieved for other tactile sensors. We intend to extend the work onto a different robot platform with improved trajectory control to improve robustness, speed and match with human performance.

KW - Tactile sensors

KW - Bayesion perceptions

U2 - 10.1007/978-3-319-42417-0_51

DO - 10.1007/978-3-319-42417-0_51

M3 - Conference Abstract

SP - 485

EP - 489

T2 - 5th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2016

Y2 - 19 July 2016 through 22 July 2016

ER -