Perceiving Forces, Bumps, and Touches from Proprioceptive Expectations

  title={Perceiving Forces, Bumps, and Touches from Proprioceptive Expectations},
  author={Christopher John Stanton and Edward Ratanasena and Sajjad Haider and Mary-Anne Williams},
We present a method for enabling an Aldebaran Nao humanoid robot to perceive bumps and touches caused by physical contact forces. Dedicated touch, tactile or force sensors are not used. Instead, our approach involves the robot learning from experience to generate a proprioceptive motor sensory expectation from recent motor position commands. Training involves collecting data from the robot characterised by the absence of the impacts we wish to detect, to establish an expectation of “normal… CONTINUE READING