Touch attention Bayesian models for robotic active haptic exploration of heterogeneous surfaces

@article{Martins2014TouchAB,
  title={Touch attention Bayesian models for robotic active haptic exploration of heterogeneous surfaces},
  author={Ricardo Martins and Jo{\~a}o Filipe Ferreira and J. Dias},
  journal={2014 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2014},
  pages={1208-1215}
}
This work contributes to the development of active haptic exploration strategies of surfaces using robotic hands in environments with an unknown structure. The architecture of the proposed approach consists two main Bayesian models, implementing the touch attention mechanisms of the system. The model πper perceives and discriminates different categories of materials (haptic stimulus) integrating compliance and texture features extracted from haptic sensory data. The model πtar actively infers… 
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