Haptic perception with a robotic hand

Magnus Johnsson, Christian Balkenius

Research output: Contribution to conferencePaperpeer-review

4 Citations (Scopus)

Abstract

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.

Original languageEnglish
Pages127-134
Number of pages8
Publication statusPublished - 2006
Externally publishedYes
Event9th Scandinavian Conference on Artificial Intelligence, SCAI 2006 - Espoo, Finland
Duration: 2006-Oct-252006-Oct-27

Conference

Conference9th Scandinavian Conference on Artificial Intelligence, SCAI 2006
Country/TerritoryFinland
CityEspoo
Period06-10-2506-10-27

Swedish Standard Keywords

  • Computer and Information Sciences (102)

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