Table of Contents Author Guidelines Submit a Manuscript
Journal of Robotics
Volume 2010 (2010), Article ID 860790, 9 pages
http://dx.doi.org/10.1155/2010/860790
Research Article

Haptic Perception with Self-Organizing ANNs and an Anthropomorphic Robot Hand

Lund University Cognitive Science, Kungshuset, Lundagård, 222 22 LUND, Sweden

Received 18 August 2009; Accepted 30 December 2009

Academic Editor: Noriyasu Homma

Copyright © 2010 Magnus Johnsson and Christian Balkenius. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Linked References

  1. P. Dario, C. Laschi, A. Menciassi, E. Guglielmelli, M. C. Carrozza, and S. Micera, “Interfacing neural and artificial systems: from neuroengineering to neurorobotics,” in Proceedings of the 1st International IEEE EMBS Conference on Neural Engineering, pp. 418–421, 2003.
  2. K. J. DeLaurentis and C. Mavroidis, “Development of a shape memory alloy actuated robotic hand,” 2000, http://citeseer.ist.psu.edu/383951.html.
  3. C. Rhee, W. Chung, M. Kim, Y. Shim, and H. Lee, “Door opening control using the multi-fingered robotic hand for the indoor service robot,” in Proceedings of IEEE International Conference on Robotics and Automation, vol. 4, pp. 4011–4016, New Orleans, La, USA, 2004. View at Scopus
  4. H. Sugiuchi, Y. Hasegawa, S. Watanabe, and M. Nomoto, “A control system for multi-fingered robotic hand with distributed touch sensor,” in Proceedings of the 26th Annual Conference of the IEEE Industrial Electronics Society (IECON '00), vol. 1, pp. 434–439, Nagoya, Japan, October 2000. View at Scopus
  5. M. A. Arbib, A. Billard, M. Iacoboni, and E. Oztop, “Synthetic brain imaging: grasping, mirror neurons and imitation,” Neural Networks, vol. 13, no. 8-9, pp. 975–997, 2000. View at Publisher · View at Google Scholar · View at Scopus
  6. A. H. Fagg and M. A. Arbib, “Modeling parietal-premotor interactions in primate control of grasping,” Neural Networks, vol. 11, no. 7-8, pp. 1277–1303, 1998. View at Publisher · View at Google Scholar · View at Scopus
  7. P. K. Allen and P. Michelman, “Acquisition and interpretation of 3-D sensor data from touch,” IEEE Transactions on Robotics and Automation, vol. 6, no. 4, pp. 397–404, 1990. View at Publisher · View at Google Scholar · View at Scopus
  8. S. Caselli, C. Magnanini, and F. Zanichelli, “Haptic object recognition with a dextrous hand based on volumetric shape representations,” in Proceedings of IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI '94), pp. 280–287, Las Vegas, Nev, USA, 1994. View at Scopus
  9. P. Dario, C. Laschi, M. C. Carrozza et al., “An integrated approach for the design and development of a grasping and manipulation system in humanoid robotics,” in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, vol. 1, pp. 1–7, Takamatsu, Japan, October 2000. View at Scopus
  10. I. Erkmen, A. M. Erkmen, A. E. Tekkaya, and T. Pasinlioglu, “Haptic perception of shape and hollowness of deformable objects using the anthrobot-III robot hand,” Journal of Robotic Systems, vol. 16, no. 1, pp. 9–24, 1999. View at Google Scholar · View at Scopus
  11. G. Heidemann and M. Schöpfer, “Dynamic tactile sensing for object identification,” in Proceedings of IEEE International Conference on Robotics and Automation (ICRA '04), vol. 1, pp. 813–818, New Orleans, La, USA, 2004. View at Scopus
  12. K. Hosoda, Y. Tada, and M. Asada, “Anthropomorphic robotic soft fingertip with randomly distributed receptors,” Robotics and Autonomous Systems, vol. 54, no. 2, pp. 104–109, 2006. View at Publisher · View at Google Scholar · View at Scopus
  13. J. Jockusch, J. Walter, and H. Ritter, “A tactile sensor system for a three-fingered robot manipulator,” in Proceedings of IEEE International Conference on Robotics and Automation, vol. 4, pp. 3080–3086, Albuquerque, NM, USA, 1997.
  14. L. Natale and E. Torres-Jara, “A sensitive approach to grasping,” in Proceedings of the 6th International Workshop on Epigenetic Robotics, pp. 87–94, 2006.
  15. E. M. Petriu, S. K. S. Yeung, S. R. Das, A.-M. Cretu, and H. J. W. Spoelder, “Robotic tactile recognition of pseudorandom encoded objects,” IEEE Transactions on Instrumentation and Measurement, vol. 53, no. 5, pp. 1425–1432, 2004. View at Publisher · View at Google Scholar · View at Scopus
  16. S. A. Stansfield, “A haptic system for a multifingered hand,” in Proceedings of IEEE International Conference on Robotics and Automation, vol. 1, pp. 658–664, Sacramento, Calif, USA, April 1991. View at Scopus
  17. D. Taddeucci, C. Laschi, R. Lazzarini, R. Magni, P. Dario, and A. Starita, “An approach to integrated tactile perception,” in Proceedings of IEEE International Conference on Robotics and Automation (ICRA '97), vol. 4, pp. 3100–3105, Albuquerque, NM, USA, April 1997.
  18. M. Johnsson, “LUCS haptic hand I,” Tech. Rep. 8, LUCS Minor, Lund University Cognitive Studies, 2004. View at Google Scholar
  19. M. Johnsson, R. Pallbo, and C. Balkenius, “Experiments with haptic perception in a robotic hand,” in Advances in Artificial Intelligence in Sweden, pp. 81–86, Mälardalen University, 2005. View at Google Scholar
  20. M. Johnsson, R. Pallbo, and C. Balkenius, “A haptic system for the LUCS haptic hand I,” in Proceedings of the 1st International Work-Conference on the Interplay between Natural and Artificial Computation (IWINAC '05), vol. 3561 of Lecture Notes in Computer Science, pp. 386–395, Springer, 2005. View at Scopus
  21. M. Johnsson and C. Balkenius, “Experiments with artificial haptic perception in a robotic hand,” Journal of Intelligent and Fuzzy Systems, vol. 17, no. 4, pp. 377–385, 2006. View at Google Scholar · View at Scopus
  22. M. Johnsson and C. Balkenius, “LUCS haptic hand II,” Tech. Rep. 9, LUCS Minor, Lund University Cognitive Studies, 2006. View at Google Scholar
  23. M. Johnsson and C. Balkenius, “Haptic perception with a robotic hand,” in Proceedings of the 9th Scandinavian Conference on Artificial Intelligence (SCAI '06), Espoo, Finland, 2006.
  24. M. Johnsson and C. Balkenius, “A robot hand with T-MPSOM neural networks in a model of the human haptic system,” in Proceedings of Towards Autonomous Robotic Systems (TAROS '06), pp. 80–87, Surrey University, Guildford, UK, 2006.
  25. M. Johnsson and C. Balkenius, “Neural network models of haptic shape perception,” Robotics and Autonomous Systems, vol. 55, no. 9, pp. 720–727, 2007. View at Publisher · View at Google Scholar · View at Scopus
  26. M. Johnsson and C. Balkenius, “Recognizing texture and hardness by touch,” in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '08), pp. 482–487, Nice, France, 2008. View at Publisher · View at Google Scholar · View at Scopus
  27. M. Johnsson and C. Balkenius, “Associating SOM representations of haptic submodalities,” in Proceedings of Towards Autonomous Robotic Systems (TAROS '08), pp. 124–129, University of Edinburgh, Edinburgh, UK, 2008.
  28. T. Kohonen, Self-Organization and Associative Memory, Springer, Berlin, Germany, 1988.
  29. M. Johnsson and C. Balkenius, “Experiments with proprioception in a self-organizing system for haptic perception,” in Proceedings of Towards Autonomous Robotic Systems (TAROS '07), pp. 239–245, University of Wales, Aberystwyth, UK, 2007.
  30. M. Johnsson and C. Balkenius, “LUCS haptic hand III—an anthropomorphic robot hand with proprioception,” Tech. Rep. 13, LUCS Minor, 2007. View at Google Scholar
  31. M. Johnsson, D. Gil Mendez, and C. Balkenius, “Touch perception with SOM, growing cell structures and growing grids,” in Proceedings of Towards Autonomous Robotic Systems (TAROS '08), pp. 79–85, University of Edinburgh, Edinburgh, UK, 2008.
  32. B. Fritzke, “Growing cell structures-a self-organizing network for unsupervised and supervised learning,” Neural Networks, vol. 7, no. 9, pp. 1441–1460, 1994. View at Google Scholar · View at Scopus
  33. B. Fritzke, “Unsupervised ontogenic networks,” in Handbook of Neural Computation, E. Fiesler and R. Beale, Eds., IOP Publishing and Oxford University Press, London, UK, 1997. View at Google Scholar
  34. B. Fritzke, “Growing Grid—a self-organizing network with constant neighborhood range and adaptation strength,” Neural Processing Letters, vol. 2, no. 5, pp. 9–13, 1995. View at Publisher · View at Google Scholar · View at Scopus
  35. C. Balkenius and J. Morén, “From isolated components to cognitive systems,” ERCIM News, p. 16, April 2003. View at Google Scholar
  36. C. Balkenius, J. Morén, and B. Johansson, Building System-Level Cognitive Models with Ikaros, Lund University Cognitive Studies, Lund, Sweden, 2007.
  37. C. M. Bishop, Neural Networks for Pattern Recognition, Oxford University Press, New York, NY, USA, 1995.
  38. B. Fritzke, “Kohonen feature maps and growing cell structures—a performance comparision,” in Proceedings of the Advances in Neural Information Processing Systems (NIPS '92), pp. 123–130, Denver, Colo, USA, 1992.
  39. D. Gil Mendez, M. Johnsson, A. Soriano Paya, and D. Ruiz Fernandez, “Artificial neural networks for diagnoses of dysfunctions in urology,” in Proceedings of the 1st International Conference on Health Informatics (HEALTHINF '08), vol. 2, pp. 191–196, Madeira, Portugal, 2008. View at Scopus
  40. U. Castiello, “The neuroscience of grasping,” Nature Reviews Neuroscience, vol. 6, no. 9, pp. 726–736, 2005. View at Publisher · View at Google Scholar · View at Scopus