Integration of touch attention mechanisms to improve the robotic haptic exploration of surfaces
Autor(a) principal: | |
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Data de Publicação: | 2017 |
Outros Autores: | , , |
Tipo de documento: | Artigo |
Idioma: | eng |
Título da fonte: | Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
Texto Completo: | http://hdl.handle.net/10316/92454 https://doi.org/10.1016/j.neucom.2016.10.027 |
Resumo: | This text presents the integration of touch attention mechanisms to improve the efficiency of the action-perception loop, typically involved in active haptic exploration tasks of surfaces by robotic hands. The progressive inference of regions of the workspace that should be probed by the robotic system uses information related with haptic saliency extracted from the perceived haptic stimulus map (exploitation) and a “curiosity”-inducing prioritisation based on the reconstruction's inherent uncertainty and inhibition-of-return mechanisms (exploration), modulated by top-down influences stemming from current task objectives, updated at each exploration iteration. This work also extends the scope of the top-down modulation of information presented in a previous work, by integrating in the decision process the influence of shape cues of the current exploration path. The Bayesian framework proposed in this work was tested in a simulation environment. A scenario made of three different materials was explored autonomously by a robotic system. The experimental results show that the system was able to perform three different haptic discontinuity following tasks with a good structural accuracy, demonstrating the selectivity and generalization capability of the attention mechanisms. These experiments confirmed the fundamental contribution of the haptic saliency cues to the success and accuracy of the execution of the tasks. |
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Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
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7160 |
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Integration of touch attention mechanisms to improve the robotic haptic exploration of surfacesThis text presents the integration of touch attention mechanisms to improve the efficiency of the action-perception loop, typically involved in active haptic exploration tasks of surfaces by robotic hands. The progressive inference of regions of the workspace that should be probed by the robotic system uses information related with haptic saliency extracted from the perceived haptic stimulus map (exploitation) and a “curiosity”-inducing prioritisation based on the reconstruction's inherent uncertainty and inhibition-of-return mechanisms (exploration), modulated by top-down influences stemming from current task objectives, updated at each exploration iteration. This work also extends the scope of the top-down modulation of information presented in a previous work, by integrating in the decision process the influence of shape cues of the current exploration path. The Bayesian framework proposed in this work was tested in a simulation environment. A scenario made of three different materials was explored autonomously by a robotic system. The experimental results show that the system was able to perform three different haptic discontinuity following tasks with a good structural accuracy, demonstrating the selectivity and generalization capability of the attention mechanisms. These experiments confirmed the fundamental contribution of the haptic saliency cues to the success and accuracy of the execution of the tasks.2017-01-26info:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/articlehttp://hdl.handle.net/10316/92454http://hdl.handle.net/10316/92454https://doi.org/10.1016/j.neucom.2016.10.027eng09252312https://www.sciencedirect.com/science/article/pii/S0925231216312188Martins, Ricardo Filipe AlvesFerreira, João FilipeCastelo-Branco, MiguelDias, Jorgeinfo:eu-repo/semantics/openAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2022-05-25T05:58:36Zoai:estudogeral.uc.pt:10316/92454Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-19T21:11:32.713206Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãofalse |
dc.title.none.fl_str_mv |
Integration of touch attention mechanisms to improve the robotic haptic exploration of surfaces |
title |
Integration of touch attention mechanisms to improve the robotic haptic exploration of surfaces |
spellingShingle |
Integration of touch attention mechanisms to improve the robotic haptic exploration of surfaces Martins, Ricardo Filipe Alves |
title_short |
Integration of touch attention mechanisms to improve the robotic haptic exploration of surfaces |
title_full |
Integration of touch attention mechanisms to improve the robotic haptic exploration of surfaces |
title_fullStr |
Integration of touch attention mechanisms to improve the robotic haptic exploration of surfaces |
title_full_unstemmed |
Integration of touch attention mechanisms to improve the robotic haptic exploration of surfaces |
title_sort |
Integration of touch attention mechanisms to improve the robotic haptic exploration of surfaces |
author |
Martins, Ricardo Filipe Alves |
author_facet |
Martins, Ricardo Filipe Alves Ferreira, João Filipe Castelo-Branco, Miguel Dias, Jorge |
author_role |
author |
author2 |
Ferreira, João Filipe Castelo-Branco, Miguel Dias, Jorge |
author2_role |
author author author |
dc.contributor.author.fl_str_mv |
Martins, Ricardo Filipe Alves Ferreira, João Filipe Castelo-Branco, Miguel Dias, Jorge |
description |
This text presents the integration of touch attention mechanisms to improve the efficiency of the action-perception loop, typically involved in active haptic exploration tasks of surfaces by robotic hands. The progressive inference of regions of the workspace that should be probed by the robotic system uses information related with haptic saliency extracted from the perceived haptic stimulus map (exploitation) and a “curiosity”-inducing prioritisation based on the reconstruction's inherent uncertainty and inhibition-of-return mechanisms (exploration), modulated by top-down influences stemming from current task objectives, updated at each exploration iteration. This work also extends the scope of the top-down modulation of information presented in a previous work, by integrating in the decision process the influence of shape cues of the current exploration path. The Bayesian framework proposed in this work was tested in a simulation environment. A scenario made of three different materials was explored autonomously by a robotic system. The experimental results show that the system was able to perform three different haptic discontinuity following tasks with a good structural accuracy, demonstrating the selectivity and generalization capability of the attention mechanisms. These experiments confirmed the fundamental contribution of the haptic saliency cues to the success and accuracy of the execution of the tasks. |
publishDate |
2017 |
dc.date.none.fl_str_mv |
2017-01-26 |
dc.type.status.fl_str_mv |
info:eu-repo/semantics/publishedVersion |
dc.type.driver.fl_str_mv |
info:eu-repo/semantics/article |
format |
article |
status_str |
publishedVersion |
dc.identifier.uri.fl_str_mv |
http://hdl.handle.net/10316/92454 http://hdl.handle.net/10316/92454 https://doi.org/10.1016/j.neucom.2016.10.027 |
url |
http://hdl.handle.net/10316/92454 https://doi.org/10.1016/j.neucom.2016.10.027 |
dc.language.iso.fl_str_mv |
eng |
language |
eng |
dc.relation.none.fl_str_mv |
09252312 https://www.sciencedirect.com/science/article/pii/S0925231216312188 |
dc.rights.driver.fl_str_mv |
info:eu-repo/semantics/openAccess |
eu_rights_str_mv |
openAccess |
dc.source.none.fl_str_mv |
reponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação instacron:RCAAP |
instname_str |
Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação |
instacron_str |
RCAAP |
institution |
RCAAP |
reponame_str |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
collection |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
repository.name.fl_str_mv |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação |
repository.mail.fl_str_mv |
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1799134012092973056 |