A forward model for an active tactile sensor using Echo State Networks

Harischandra N, Dürr V (2012)
In: 6th International Symposium on Robotics and Sensors Environments (ROSE-2012). 103-108.

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Konferenzbeitrag | Veröffentlicht | Englisch
Abstract / Bemerkung
Here, we introduce a forward model designed for predicting the expected reading of a bionic tactile sensor (antenna) mounted onto a wheeled robot. The model was used to distinguish self-generated stimulation from true tactile events to the antenna. An Echo State Network (ESN), a special type of recurrent neural network which is suitable for chaotic time series prediction, is used to implement the forward model. Inputs to the ESN are the motor command which sets the position of the antenna, and a local proprioceptive signal which measures the acceleration of the robot platform. The model can successfully be used to detect a tactile contact on the antenna while the robot is moving along a path with obstacles. Such forward models are good candidates to be used in neural yet simple way to eliminate self-stimulation of sensors of other modalities due to ego-motion.
Erscheinungsjahr
Titel des Konferenzbandes
6th International Symposium on Robotics and Sensors Environments (ROSE-2012)
Seite
103-108
Konferenz
IEEE International Symposium on Robotic and Sensors Environments (ROSE)
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Harischandra N, Dürr V. A forward model for an active tactile sensor using Echo State Networks. In: 6th International Symposium on Robotics and Sensors Environments (ROSE-2012). 2012: 103-108.
Harischandra, N., & Dürr, V. (2012). A forward model for an active tactile sensor using Echo State Networks. 6th International Symposium on Robotics and Sensors Environments (ROSE-2012), 103-108. doi:10.1109/rose.2012.6402605
Harischandra, N., and Dürr, V. (2012). “A forward model for an active tactile sensor using Echo State Networks” in 6th International Symposium on Robotics and Sensors Environments (ROSE-2012) 103-108.
Harischandra, N., & Dürr, V., 2012. A forward model for an active tactile sensor using Echo State Networks. In 6th International Symposium on Robotics and Sensors Environments (ROSE-2012). pp. 103-108.
N. Harischandra and V. Dürr, “A forward model for an active tactile sensor using Echo State Networks”, 6th International Symposium on Robotics and Sensors Environments (ROSE-2012), 2012, pp.103-108.
Harischandra, N., Dürr, V.: A forward model for an active tactile sensor using Echo State Networks. 6th International Symposium on Robotics and Sensors Environments (ROSE-2012). p. 103-108. (2012).
Harischandra, Nalin, and Dürr, Volker. “A forward model for an active tactile sensor using Echo State Networks”. 6th International Symposium on Robotics and Sensors Environments (ROSE-2012). 2012. 103-108.

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