Feeling by grasping

Bajcsy, Růžena; McCarthy, Melissa; Trinkle, Jeff

doi:10.1109/robot.1984.1087225

Cited by 10 publications

(4 citation statements)

References 4 publications

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“…From the beginning (since the 1980s) of our efforts in Active Perception we realized that vision is limited and has to be complimented by tactile perception. This has been documented by series of papers: Shape from Touch (Bajcsy 1984), Active Touch (Goldberg and Bajcsy 1984), and Feeling by Grasping (Bajcsy et al 1984). Allen (1985) showed that tactile perception is preferred to vision when an agent must discriminate different material properties of hardness, demonstrating this on discriminating the hole on the cup handle vs. the body of the cup.…”

Section: How Does An Agent Control How Sensing Occurs?mentioning

confidence: 95%

Revisiting active perception

2017

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Despite the recent successes in robotics, artificial intelligence and computer vision, a complete artificial agent necessarily must include active perception. A multitude of ideas and methods for how to accomplish this have already appeared in the past, their broader utility perhaps impeded by insufficient computational power or costly hardware. The history of these ideas, perhaps selective due to our perspectives, is presented with the goal of organizing the past literature and highlighting the seminal contributions. We argue that those contributions are as relevant today as they were decades ago and, with the state of modern computational tools, are poised to find new life in the robotic perception systems of the next decade.

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Section: How Does An Agent Control How Sensing Occurs?mentioning

confidence: 95%

Revisiting active perception

2017

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“…* (A similar proposal has been made for robotic grasping. 7 ) The benefits of coordination, and the potential disadvantages of uncoordinated movement, suggest that the former will dominate multiple-effector exploration, whatever the processing goal.…”

Section: Independent Vs Coordinated Effectors: Competing Input Channmentioning

confidence: 99%

Task-Driven Extraction of Object Contour by Human Haptics: Part 2

1991

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SUMMARYThe extraction of contour information from subjects is essential for purposes of grasping and manipulation. We proposed that human haptic exploration of contours, in the absence of vision, would reveal specialized patterns, or “contour exploration procedures,” that are directly related to task goals and intrinsic system capacities. Our general assumptions, method, and initial results were described in Part 1. Part 2 provides an analysis of the relation between contour extraction procedures and processing constraints. These theoretical assumptions are supported by empirical findings, and implications are discussed for issues of importance to robotic exploration and manipulation.

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“…Condition ( 2 ) reflects the fact that nE > nc; when the mobility constraints are dependent (see eq. 51).…”

Section: Theorem 1 a Grasp Is Quasi-statically Determinate If And Onlmentioning

confidence: 99%