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Edge and plane classification with a biomimetic iCub fingertip sensor

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



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Abstract:
The exploration and interaction of humanoid robots with the environment through tactile sensing is an important task for achieving truly autonomous agents. Recently much research has been focused on the development of new technologies for tactile sensors and new methods for tactile exploration. Edge detection is one of the tasks required in robots and humanoids to explore and recognise objects. In this work we propose a method for edge and plane classification with a biomimetic iCub fingertip using a probabilistic approach. The iCub fingertip mounted on an xy-table robot is able to tap and collect the data from the surface and edge of a plastic wall. Using a maximum likelihood classifier the xy-table knows when the iCub fingertip has reached the edge of the object. The study presented here is also biologically inspired by the tactile exploration performed in animals.


Keywords: tactile sensing , edge detection , probabilistic classification , biomimetic
Institution: Research Institute for Cognition and Robotics (CoR-Lab)
DDC classification: Data processing, computer science, computer systems

Suggested Citation:
Uriel Martinez-Hernandez, Nathan F. Lepora, Hector Barron-Gonzalez, Tony Dodd, Tony J. Prescott, Edge and plane classification with a biomimetic iCub fingertip sensor. Proceedings of the Post-Graduate Conference on Robotics and Development of Cognition, J. Szufnarowska, Ed., September 2012


URL: http://biecoll.ub.uni-bielefeld.de/volltexte/2012/5236



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