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Embodied hyperacuity from Bayesian perception: Shape and position discrimination with an iCub fingertip sensor

Nathan F. Lepora, Uriel Martinez-Hernandez, Hector Barron-Gonzalez, Mat Evans, Giorgio Metta, Tony J. Prescott
2012 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems  
H. et al. (3 more authors) (2012) Embodied hyperacuity from Bayesian perception: Shape and position discrimination with an iCub fingertip sensor.  ...  This study presents an initial application of Bayesian perception on an iCub fingertip sensor mounted on a dedicated positioning robot.  ...  In consequence, the position discrimination performs at sub-taxel resolution, and thus constitutes an embodiment of hyperacuity in a biomimetic robot with brain-based perception. C.  ... 
doi:10.1109/iros.2012.6385649 dblp:conf/iros/LeporaMBEMP12 fatcat:xayzhh2a4fdxzddefz5tcpa35q

Active Haptic Perception in Robots: A Review

Lucia Seminara, Paolo Gastaldo, Simon J. Watt, Kenneth F. Valyear, Fernando Zuher, Fulvio Mastrogiovanni
2019 Frontiers in Neurorobotics  
For this reason, today's new generation robots are equipped with more and more sensing components, and consequently they are ready to actively deal with the high complexity of the real world.  ...  Basic qualities of haptic perception in humans inspire the models and categories comprising the proposed classification.  ...  iCub tactile sensor array (12 capacitive sensors) Abraham et al., 2017 Ergodic exploration of unknown objects Object shape estimation • Collect data by trajectory following • Shape estimation  ... 
doi:10.3389/fnbot.2019.00053 pmid:31379549 pmcid:PMC6651744 fatcat:5uytqov3zzg3nndphtdni5dlhu