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Publication - Dr Nathan Lepora

    Discrimination-Based Perception for Robot Touch

    Citation

    Roscow, EL, Kent, C, Leonards, U & Lepora, NF, 2016, ‘Discrimination-Based Perception for Robot Touch’. in: Nathan F Lepora, Anna Mura, Michael Mangan, Paul F M J Verschure, Marc Desmulliez, Tony J Prescott (eds) Biomimetic and Biohybrid Systems: 5th International Conference, Living Machines 2016, Edinburgh, UK, July 19-22, 2016. Proceedings. Springer Verlag, pp. 498-502

    Abstract

    Biomimetic tactile sensors often need a large amount of training to distinguish between a large number of different classes of stimuli. But when stimuli vary in one continuous property such as sharpness, it is possible to reduce training by using a discrimination approach rather than a classification approach. By presenting a biomimetic tactile sensing device, the TacTip, with a single exemplar of edge sharpness, the sensor was able to discriminate between unseen stimuli by comparing them to the trained exemplar. This technique reduces training time and may lead to more biologically relevant models of perceptual learning and discrimination.

    Full details in the University publications repository