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

Content Provider	IEEE Xplore Digital Library
Author	Lepora, N.F. Martinez-Hernandez, U. Barron-Gonzalez, H. Evans, M. Metta, G. Prescott, T.J.
Copyright Year	2012
Description	Author affiliation: Adaptive Touch Laboratory at Sheffield, Department of Psychology, University of Sheffield, Western Bank, S10 2TN, UK (Lepora, N.F.; Martinez-Hernandez, U.; Barron-Gonzalez, H.; Evans, M.; Prescott, T.J.) \|\| Italian Institute of Technology (IIT), Italy (Metta, G.)
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.
Starting Page	4638
Ending Page	4643
File Size	1004550
Page Count	6
File Format	PDF
ISBN	9781467317375
ISSN	21530858
e-ISBN	9781467317368
DOI	10.1109/IROS.2012.6385649
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-10-07
Publisher Place	Portugal
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot sensing systems Bayesian methods Shape Accuracy Sequential analysis Decision making
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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