Texture classification through tactile sensing

Uriel Martinez-Hernandez*, Hector Barron-Gonzalez, Mat Evans, Nathan F. Lepora, Tony Dodd, Tony J. Prescott

*Corresponding author for this work

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

2 Citations (Scopus)

Abstract

To perform tasks in human-centric environments, humanoid robots should have the ability to interact with and learn from their environment through the sense of touch. In humans, the loss of this capability can be catastrophic - for instance, the absence of a proprioception sense of limb movement can result in a dramatic loss of the precision and speed of hand movements. Furthermore, not only humans but also animals use tactile sensing to explore their environment, with one notable example being the tapping exploration known as whisking performed by rats with their long facial vibrissae. The movement of tactile sensors against an object surface to generate tactile information is known as active tactile sensing because it relies on actively moving the sensor to generate the tactile sensations. Humans make use of different exploratory procedures (EPs) to extract key information of the objects (e.g. tapping, contour following). It is of great interest how humans and animals develop and select these EPs [6], which motivates the present study into integrating these biomimetic properties within a robotic system.

Original languageEnglish
Title of host publicationLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Pages377-379
Number of pages3
Volume7375 LNAI
DOIs
Publication statusPublished - 2012
Event1st International Conference on Biomimetic and Biohybrid Systems, Living Machines 2012 - Barcelona, Spain
Duration: 9 Jul 201212 Jul 2012

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume7375 LNAI
ISSN (Print)03029743
ISSN (Electronic)16113349

Conference

Conference1st International Conference on Biomimetic and Biohybrid Systems, Living Machines 2012
CountrySpain
CityBarcelona
Period9/07/1212/07/12

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