Contribution: Nathan F. Lepora, et al.

Active tactile perception for exploration and manipulation

Nathan F. Lepora, Kirsty Aquilina, Luke Cramphorn, and Benjamin Ward-Cherrier

A key unsolved problem in tactile robotics is how to combine tactile perception and control to interact robustly and intelligently with the surroundings. Here we focus on applying biomimetic active perception of object identity while controlling sensor location to other tasks involving active touch: active tactile exploration over complex shapes, where features from active perception are used for controlling the tactile sensor; and active tactile manipulation of objects, using features from active perception to control an object held in-hand. A common approach for biomimetic active perception is found to perform successfully all types of active touch task.