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 languageEnglish
Pages485-489
Number of pages5
DOIs
Publication statusPublished - 2016
Event5th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2016 - Edinburgh, United Kingdom
Duration: 19 Jul 201622 Jul 2016

Conference

Conference5th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2016
CountryUnited Kingdom
CityEdinburgh
Period19/07/1622/07/16

Keywords

  • Tactile sensors
  • Bayesion perceptions

Fingerprint Dive into the research topics of 'Tactile Exploration by Contour Following Using a Biomimetic Fingertip'. Together they form a unique fingerprint.

  • Cite this

    Pestell, N., Ward-Cherrier, B., Cramphorn, L., & Lepora, N. F. (2016). Tactile Exploration by Contour Following Using a Biomimetic Fingertip. 485-489. Abstract from 5th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2016, Edinburgh, United Kingdom. https://doi.org/10.1007/978-3-319-42417-0_51