In this paper a framework for representing tactile information in robots is discussed. Control models exploiting tactile sensing are fundamental in social Human-Robot interaction tasks. Difficulties arising in rendering the sense of touch in robots are at different levels: both representation and computational issues must be considered. A layered system is proposed, which is inspired from tactile sensing in humans for building artificial somatosensory maps in robots. Experiments in simulation are used to validate the approach.

Tactile sensing: steps to artificial somatosensory maps

CANNATA, GIORGIO;MASTROGIOVANNI, FULVIO
2010-01-01

Abstract

In this paper a framework for representing tactile information in robots is discussed. Control models exploiting tactile sensing are fundamental in social Human-Robot interaction tasks. Difficulties arising in rendering the sense of touch in robots are at different levels: both representation and computational issues must be considered. A layered system is proposed, which is inspired from tactile sensing in humans for building artificial somatosensory maps in robots. Experiments in simulation are used to validate the approach.
2010
978-1-4244-7990-0
978-1-4244-7991-7
978-1-4244-7989-4
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11567/350904
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