Assessing Humanoid Multimodal Grasping Towards Object Recognition

Alexandros Giagkos, Raphael Braud, Patricia Shaw, Mark Lee, Qiang Shen

Allbwn ymchwil: Cyfraniad at gynhadleddCrynodebadolygiad gan gymheiriaid


In this paper we present the outcome of a reflex-based humanoid grasping behaviour and assess its capacity to be used towards object recognition through acquiring multimodal information. Sensory data collected during the grasping activity of the iCub's hand is used to assess the relevance of proprioception and tactile information in building object representations that can be used to ultimately distinguish between objects. Results show that proprioception coupled with the proposed grasping patterns construction is most reliable as compared to tactile information. Hence, the work highlights the importance of improving the reliability of the tactile modality.
Iaith wreiddiolSaesneg
Nifer y tudalennau2
StatwsDerbyniwyd/Yn y wasg - Gorff 2017
Digwyddiad2nd Robot Manipulation Workshop - Imperial College London, London, Teyrnas Unedig Prydain Fawr a Gogledd Iwerddon
Hyd: 10 Gorff 201711 Gorff 2017


Gweithdy2nd Robot Manipulation Workshop
Gwlad/TiriogaethTeyrnas Unedig Prydain Fawr a Gogledd Iwerddon
Cyfnod10 Gorff 201711 Gorff 2017
Cyfeiriad rhyngrwyd

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