Haptic Perception with a Robotic Hand
Author
Editor
- Timo Honkela
- Jukka Kortela
- Harri Valpola
- Tapani Raiko
Summary, in English
Abstract in Undetermined
We have developed an 8 d.o.f. robot hand which has been tested with three computational models of haptic perception. Two of the models are based on the tensor product of different proprioceptive and sensory signals and a self-organizing map (SOM), and one uses a novel self-organizing neural network, the T-MPSOM. The computational models have been trained and tested with a set of objects consisting of hard spheres, blocks and cylinders. The first computational model, which is based on the tensor product, was able to discriminate between all the test objects. The second and third models could also discriminate between the test objects, but in addition they were capable of shape categorization.
We have developed an 8 d.o.f. robot hand which has been tested with three computational models of haptic perception. Two of the models are based on the tensor product of different proprioceptive and sensory signals and a self-organizing map (SOM), and one uses a novel self-organizing neural network, the T-MPSOM. The computational models have been trained and tested with a set of objects consisting of hard spheres, blocks and cylinders. The first computational model, which is based on the tensor product, was able to discriminate between all the test objects. The second and third models could also discriminate between the test objects, but in addition they were capable of shape categorization.
Department/s
Publishing year
2006
Language
English
Pages
127-134
Publication/Series
Publications of the Finnish Artificial Intelligence Society
Volume
22
Document type
Conference paper
Publisher
Finnish Artificial Intelligence Society
Topic
- Computer Vision and Robotics (Autonomous Systems)
Conference name
Ninth Scandinavian Conference on Artificial Intelligence (SCAI 2006)
Conference date
2006-10-26 - 2006-10-27
Conference place
Espoo, Finland
Status
Published
Project
- Ikaros: An infrastructure for system level modelling of the brain
Research group
- Lund University Cognitive Science (LUCS)
ISBN/ISSN/Other
- ISSN: 1796-623X
- ISSN: 1238-4658
- ISBN: 978-952-5677-01-0
- ISBN: 978-952-5677-00-3