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Authors: André Frank Krause ; Thierry Hoinville ; Nalin Harischandra and Volker Dürr

Affiliation: Bielefeld University, Germany

ISBN: 978-989-758-016-1

ISSN: 2184-433X

Keyword(s): Tactile Sensor, Contour Tracing, Shape Recognition, Artificial Neural Network.

Related Ontology Subjects/Areas/Topics: Agents ; Artificial Intelligence ; Autonomous Systems ; Bioinformatics ; Biomedical Engineering ; Biomedical Signal Processing ; Computational Intelligence ; Data Manipulation ; Enterprise Information Systems ; Health Engineering and Technology Applications ; Human-Computer Interaction ; Information Systems Analysis and Specification ; Methodologies and Methods ; Methodologies and Technologies ; Neural Networks ; Neurocomputing ; Neurotechnology, Electronics and Informatics ; Operational Research ; Pattern Recognition ; Physiological Computing Systems ; Robot and Multi-Robot Systems ; Sensor Networks ; Signal Processing ; Simulation ; Soft Computing ; Theory and Methods

Abstract: We propose Contour-Net as a bio-inspired model for rhythmic movement control of a pair of insectoid feelers, able to successively sample the contour of arbitrarily shaped objects. Initial object contact initiates a smooth transition from a large-amplitude, low-frequency searching behaviour to a local, small-amplitude and high frequency sampling behaviour. Both behavioural states are defined by the parameters of a Hopf Oscillator. Subsequent contact signals trigger a 180º phase-forwarding of the oscillator, resulting in repeated sampling of the object. The local sampling behaviour effectively serves as a contour-tracing method with high robustness, even for complicated shapes. Collected contour data points can be directly fed into an artificial neural network to classify the shape of an object. Given a sufficiently large training dataset, tactile shape recognition can be achieved in a position-, orientation- and size-invariant manner. Only minimal pre-processing (normalisation) of contour data points is required. (More)


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Paper citation in several formats:
Frank Krause, A.; Hoinville, T.; Harischandra, N. and Dürr, V. (2014). Contour-Net - A Model for Tactile Contour-tracing and Shape-recognition. In Proceedings of the 6th International Conference on Agents and Artificial Intelligence - Volume 2: ICAART, ISBN 978-989-758-016-1 ISSN 2184-433X, pages 92-101. DOI: 10.5220/0004821700920101

author={André {Frank Krause}. and Thierry Hoinville. and Nalin Harischandra. and Volker Dürr.},
title={Contour-Net - A Model for Tactile Contour-tracing and Shape-recognition},
booktitle={Proceedings of the 6th International Conference on Agents and Artificial Intelligence - Volume 2: ICAART,},


JO - Proceedings of the 6th International Conference on Agents and Artificial Intelligence - Volume 2: ICAART,
TI - Contour-Net - A Model for Tactile Contour-tracing and Shape-recognition
SN - 978-989-758-016-1
IS - 2184-433X
AU - Frank Krause, A.
AU - Hoinville, T.
AU - Harischandra, N.
AU - Dürr, V.
PY - 2014
SP - 92
EP - 101
DO - 10.5220/0004821700920101

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