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Active contour following to explore object shape with robot touch

U. Martinez-Hernandez, T. J. Dodd, L. Natale, G. Metta, T. J. Prescott, N. F. Lepora
2013 2013 World Haptics Conference (WHC)  
In this work, we present an active tactile perception approach for contour following based on a probabilistic framework. Tactile data were collected using a biomimetic fingertip sensor.  ...  The method is trained off-line and then the testing performed on-line based on contour following around several different test shapes.  ...  Acknowledgements This work was supported by EU Framework project EFAA (ICT-270490) and the Mexican National Council of Science and Technology (CONACyT).  ... 
doi:10.1109/whc.2013.6548432 dblp:conf/haptics/Martinez-HernandezMDPNL13 fatcat:f5j42mythva7rmcclri2xu2n5a

Active sensorimotor control for tactile exploration

Uriel Martinez-Hernandez, Tony J. Dodd, Mathew H. Evans, Tony J. Prescott, Nathan F. Lepora
2017 Robotics and Autonomous Systems  
to follow the unknown contour of various object shapes with a tactile fingertip 162 sensor.  ...  Therefore, the 117 fingertip sensor keeps the same orientation during all experiments. A tactile exploration based on taps was chosen for two main reasons.  ... 
doi:10.1016/j.robot.2016.09.014 fatcat:faqs6yi2prdc3jvfvomqennxty

Biomimetic Active Touch with Fingertips and Whiskers

Nathan F. Lepora
2016 IEEE Transactions on Haptics  
General rights This document is made available in accordance with publisher policies. Please cite only the published version using the reference above. Full terms of use are available:  ...  This work was supported by a grant from the Engineering and Physical Sciences Research Council (EPSRC) on "Tactile Superresolution Sensing" (EP/M02993X/1).  ...  The data used in this letter can be accessed at http://lepora. com/publications/lepora2016toh_data  ... 
doi:10.1109/toh.2016.2558180 pmid:27168603 fatcat:qb4vp234mzgirb6tiubkzf3pvi

Adaptive perception: Learning from sensory predictions to extract object shape with a biomimetic fingertip

Uriel Martinez-Hernandez, Tony J. Prescott
2017 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  
Validation of our work is based on a contour following exploratory procedure to extract object shape using a biomimetic fingertip sensor.  ...  Therefore, the fingertip sensor keeps the same orientation during all the experiments. A tactile exploration based on taps or palpating was chosen for two reasons.  ... 
doi:10.1109/iros.2017.8206590 dblp:conf/iros/Martinez-Hernandez17 fatcat:tvbz5a4pkbf7jdnoqmrjxmmphi

Tactile sensing in dexterous robot hands — Review

Zhanat Kappassov, Juan-Antonio Corrales, Véronique Perdereau
2015 Robotics and Autonomous Systems  
Previously issued reviews are focused on hardware part of tactile sensors, whereas we present an overview of algorithms and tactile feedback-based control systems that exploit signals from the sensors.  ...  The main issues of artificial tactile sensing are addressed. General requirements of a tactile sensor are briefly discussed and the main transduction technologies are analyzed.  ...  sense high-frequency vibrations due to the absence of electric motors [24] , (b) the robot hand of the iCub humanoid robot with tactile sensors on the fingertips and the palm [44] , (c) flexible tactile  ... 
doi:10.1016/j.robot.2015.07.015 fatcat:lifzazooinf6xefcswgzb6pshi

Active Bayesian perception for angle and position discrimination with a biomimetic fingertip

Uriel Martinez-Hernandez, Tony Dodd, Tony J. Prescott, Nathan F. Lepora
2013 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems  
The first part of this study tests active perception off-line with a large dataset of edge orientations and positions, using a Monte Carlo validation to ascertain the classification accuracy.  ...  The successful outcome of this simple but illustrative task demonstrates that active perception can be of practical benefit for tactile robotics.  ...  Tactile data acquisition This study considers tactile sensing using a biomimetic fingertip sensor designed for the iCub humanoid robot.  ... 
doi:10.1109/iros.2013.6697222 dblp:conf/iros/Martinez-HernandezDPL13 fatcat:omqvzobevbe2rbgw5unfyfetti

Exploratory Tactile Servoing With Active Touch

Nathan F. Lepora, Kirsty Aquilina, Luke Cramphorn
2017 IEEE Robotics and Automation Letters  
This work builds on past studies of using active perception to control an iCub fingertip mounted on a 2D Cartesian robot to follow an edge [2] , [3] , [13] , where the active perception loop was instead  ...  Our intention with this work is to make progress towards general methods for combining robust control with tactile sensing.  ... 
doi:10.1109/lra.2017.2662071 dblp:journals/ral/LeporaAC17 fatcat:bys4em5svvbivfgcebaxcdmeie

Face classification using touch with a humanoid robot hand

Nicolas Sommer, Aude Billard
2012 2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012)  
The iCub robot's tactile sensors are used to provide compliance in the hand motion so as to smoothly scan the facial features.  ...  We take inspiration in the way blind people recognize people's faces, i.e. through tactile exploration of the person's face.  ...  ACKNOWLEDGMENT The research leading to these results has received funding in part from the European Community's Seventh Framework Programme  ... 
doi:10.1109/humanoids.2012.6651508 dblp:conf/humanoids/SommerB12 fatcat:owixslv4lbcv5gphlzdmgdsio4

Pose-Based Tactile Servoing: Controlled Soft Touch using Deep Learning [article]

Nathan F. Lepora, John Lloyd
2021 arXiv   pre-print
Finally, we reflect on the relation to visual servo control and discuss how controlled soft touch gives a route towards human-like dexterity in robots.  ...  PBTS control is implemented with a soft curved optical tactile sensor (the BRL TacTip) using a convolutional neural network trained to be insensitive to shear.  ...  Around the same time, another scheme was developed for tactile contour following around planar objects, using a curved, soft tactile sensor (an iCub fingertip) with a Bayesian predictor of 2D sensor pose  ... 
arXiv:2012.02504v2 fatcat:5wv4j4en7bfxtj3gbwudvlbz3a

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.  ...  First, in the literature on haptics, exploration has been treated only to a limited extent compared to grasping and manipulation.  ...  A tactile exploration based on palpation is chosen.  ... 
doi:10.3389/fnbot.2019.00053 pmid:31379549 pmcid:PMC6651744 fatcat:5uytqov3zzg3nndphtdni5dlhu

Tactile Quality Control With Biomimetic Active Touch

Nathan F. Lepora, Benjamin Ward-Cherrier
2016 IEEE Robotics and Automation Letters  
A complementary method for exploration would be to use the tactile sensor to autonomously track edges or other surface features, as can be achieved with related methods for tactile contour following [  ...  The statistical approach is combined with active perception to control how the sensor contacts the stimulus during sensing, and used with biomimetic tactile fingertips.  ... 
doi:10.1109/lra.2016.2524071 dblp:journals/ral/LeporaW16 fatcat:bvvdjycuxngalnjp7y6g3t37g4

On the generation of a variety of grasps

Sahar El-Khoury, Miao Li, Aude Billard
2013 Robotics and Autonomous Systems  
They tend to vary their hands position/orientation around the object and their fingers placement on its surface according to the object properties such as its weight, shape, friction coefficient and the  ...  Grasp synthesis is formulated as a single constrained optimization problem, generating grasps that are feasible for the hand's kinematics by minimizing the norm of the joint torque vector of the hand ensuring  ...  Therefore, we choose to test our algorithm on a cylinder and make sure that the computed grasps explore the grasps solution space instead of converging only towards the standard cylindrical grasp (side  ... 
doi:10.1016/j.robot.2013.08.002 fatcat:4drpha5dc5bwdhf5lngps4tawy

Learning to Live Life on the Edge: Online Learning for Data-Efficient Tactile Contour Following [article]

Elizabeth A. Stone, Nathan F. Lepora, David A.W. Barton
2020 arXiv   pre-print
The results show that contour following is successful with comparatively little data and is robust to novel stimuli.  ...  This paper addresses the issue of data-efficiency by proposing a novel method for online learning based on a Gaussian Process Latent Variable Model (GP-LVM), whereby the robot learns from tactile data  ...  This paper focuses on a data-efficient method of tactile sensing based on a latent variable model.  ... 
arXiv:1909.05808v2 fatcat:ntsfb6xnjbgujdt2mysrusmtoe

Robotic tactile perception of object properties: A review

Shan Luo, Joao Bimbo, Ravinder Dahiya, Hongbin Liu
2017 Mechatronics (Oxford)  
Available tactile sensing technologies are briefly presented before an extensive review on tactile recognition of object properties.  ...  Touch sensing can help robots understand their surrounding environment, and in particular the objects they interact with.  ...  ACKNOWLEDGMENT The work presented in this paper was partially supported by the Engineering and Physical Sciences Council  ... 
doi:10.1016/j.mechatronics.2017.11.002 fatcat:aagspwgsw5bvreclzqrrasb6ry

Robotic Tactile Perception of Object Properties: A Review [article]

Shan Luo, Joao Bimbo, Ravinder Dahiya, Hongbin Liu
2017 arXiv   pre-print
Available tactile sensing technologies are briefly presented before an extensive review on tactile recognition of object properties.  ...  Touch sensing can help robots understand their sur- rounding environment, and in particular the objects they interact with.  ...  ACKNOWLEDGMENT The work presented in this paper was partially supported by the Engineering and Physical Sciences Council  ... 
arXiv:1711.03810v1 fatcat:mzdlwaktzvcifp7vrcmlvvs54m
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