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Experiments with Proprioception in a Self-Organizing System for Haptic Perception

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Author

Summary, in English

We have experimented with proprioception in a bio-inspired self-organizing haptic system. To this end a 12 d.o.f. anthropomorphic robot hand with proprioceptive sensors was developed. The system uses a self-organizing map for the mapping of the explored objects. In our experiments the system was trained and tested with 10 different objects of different sizes from two different shape categories. To estimate the generalization ability the system was also tested with 6 new objects. The system showed good performance with the objects from both the training set as well as in the generalization experiment. In both cases the system was able to discriminate the shape, the size and to some extent the individual objects.

Department/s

Publishing year

2007

Language

English

Publication/Series

[Host publication title missing]

Document type

Conference paper

Publisher

Towards Autonomous Robotic Systems 2007, University of Wales, Aberystwyth, UK, 239-245.

Topic

  • Computer Vision and Robotics (Autonomous Systems)

Conference name

Towards Autonomous Robotic Systems 2007

Conference date

0001-01-02

Conference place

University of Wales, Aberystwyth, United Kingdom

Status

Published

Project

  • Ikaros: An infrastructure for system level modelling of the brain

Research group

  • Lund University Cognitive Science (LUCS)