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

Johnsson, Magnus LU and Balkenius, Christian LU (2007) Towards Autonomous Robotic Systems 2007
Abstract
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.
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Chapter in Book/Report/Conference proceeding
publication status
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[Host publication title missing]
publisher
Towards Autonomous Robotic Systems 2007, University of Wales, Aberystwyth, UK, 239-245.
conference name
Towards Autonomous Robotic Systems 2007
conference location
University of Wales, Aberystwyth, United Kingdom
language
English
LU publication?
yes
id
0375a45e-27c4-4837-ba56-931ec5798c20 (old id 948984)
date added to LUP
2008-01-25 16:25:13
date last changed
2018-11-21 21:05:31
@inproceedings{0375a45e-27c4-4837-ba56-931ec5798c20,
  abstract     = {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.},
  author       = {Johnsson, Magnus and Balkenius, Christian},
  language     = {eng},
  location     = {University of Wales, Aberystwyth, United Kingdom},
  publisher    = {Towards Autonomous Robotic Systems 2007, University of Wales, Aberystwyth, UK, 239-245.},
  title        = {Experiments with Proprioception in a Self-Organizing System for Haptic Perception},
  year         = {2007},
}