Probabilistic classification of grasping behaviours using visuo-haptic perception

S. Jafar Hosseini, Diego R. Faria, Jorge Lobo, Jorge Dias

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

This paper presents a novel approach to visuo-haptic perception of grasping/manipulative tasks. The proposed approach is founded on a hierarchical Bayesian model which integrates the visual information with the haptic data to reach a reasonable percept of what is happening in grasping tasks. The primary goal of the approach is to identify what type of grasping behaviour is being performed by the human subject, and as a secondary goal, to simultaneously assess the quality of the respective grasping behaviour. For a simple set of grasping behaviours defined in this paper, preliminary experimental results indicate that the proposed approach could result in a robust and efficient perception of grasp behaviours.

Original languageBritish English
Title of host publicationTechnological Innovation for Value Creation - Third IFIP WG 5.5/SOCOLNET Doctoral Conference on Computing, Electrical and Industrial Systems, DoCEIS 2012, Proceedings
Pages241-248
Number of pages8
DOIs
StatePublished - 2012
Event3rd IFIP WG 5.5/SOCOLNET Doctoral Conference on Computing, Electrical and Industrial Systems, DoCEIS 2012 - Costa de Caparica, Portugal
Duration: 27 Feb 201229 Feb 2012

Publication series

NameIFIP Advances in Information and Communication Technology
Volume372 AICT
ISSN (Print)1868-4238

Conference

Conference3rd IFIP WG 5.5/SOCOLNET Doctoral Conference on Computing, Electrical and Industrial Systems, DoCEIS 2012
Country/TerritoryPortugal
CityCosta de Caparica
Period27/02/1229/02/12

Keywords

  • Grasping Behaviours
  • Hierarchical Bayesian Models (HBMs)
  • Visuo-Haptic Perception

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