Skip to content

Tactile Exploration by Contour Following Using a Biomimetic Fingertip

Research output: Contribution to conferenceAbstract

Original languageEnglish
Pages485-489
Number of pages5
DOIs
DateE-pub ahead of print - 12 Jul 2016
DatePublished (current) - 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

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.

    Research areas

  • Tactile sensors, Bayesion perceptions

Event

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

Duration19 Jul 201622 Jul 2016
CityEdinburgh
CountryUnited Kingdom

Event: Conference

Documents

View research connections

Related faculties, schools or groups