Embodied hyperacuity from bayesian perception: Shape and position discrimination with an icub fingertip sensor

Nathan F. Lepora, Uriel Martinez Hernandez, Tony J. Prescott

Research output: Chapter in Book/Report/Conference proceedingConference contribution

17 Citations (Scopus)

Abstract

Recent advances in modeling animal perception has motivated an approach of Bayesian perception applied to biomimetic robots. This study presents an initial application of Bayesian perception on an iCub fingertip sensor mounted on a dedicated positioning robot. We systematically probed the test system with five cylindrical stimuli offset by a range of positions relative to the fingertip. Testing the real-time speed and accuracy of shape and position discrimination, we achieved sub-millimeter accuracy with just a few taps. This result is apparently the first explicit demonstration of perceptual hyperacuity in robot touch, in that object positions are perceived more accurately than the taxel spacing. We also found substantial performance gains when the fingertip can reposition itself to avoid poor perceptual locations, which indicates that improved robot perception could mimic active perception in animals.
Original languageEnglish
Title of host publicationIEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherIEEE
Pages4638-4643
Number of pages6
ISBN (Electronic)978-1-4673-1736-8
ISBN (Print)978-1-4673-1737-5
DOIs
Publication statusPublished - 2 Jul 2012
Event2012 IEEE/RSJ International conference on Intelligent Robots and Systems (IROS) 2012 - Vilamoura, Portugal
Duration: 7 Oct 201212 Oct 2012

Conference

Conference2012 IEEE/RSJ International conference on Intelligent Robots and Systems (IROS) 2012
Abbreviated titleIROS 2012
CountryPortugal
CityVilamoura
Period7/10/1212/10/12

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