Conference Towards Autonomous Robotic Systems

TAROS 2011: Towards Autonomous Robotic Systems pp 13-23

A General Classifier of Whisker Data Using Stationary Naive Bayes: Application to BIOTACT Robots

  • Nathan F. Lepora
  • Charles W. Fox
  • Mat Evans
  • Ben Mitchinson
  • Asma Motiwala
  • J. Charlie Sullivan
  • Martin J. Pearson
  • Jason Welsby
  • Tony Pipe
  • Kevin Gurney
  • Tony J. Prescott
Conference paper

DOI: 10.1007/978-3-642-23232-9_2

Volume 6856 of the book series Lecture Notes in Computer Science (LNCS)
Cite this paper as:
Lepora N.F. et al. (2011) A General Classifier of Whisker Data Using Stationary Naive Bayes: Application to BIOTACT Robots. In: Groß R., Alboul L., Melhuish C., Witkowski M., Prescott T.J., Penders J. (eds) Towards Autonomous Robotic Systems. TAROS 2011. Lecture Notes in Computer Science, vol 6856. Springer, Berlin, Heidelberg

Abstract

A general problem in robotics is how to best utilize sensors to classify the robot’s environment. The BIOTACT project (BIOmimetic Technology for vibrissal Active Touch) is a collaboration between biologists and engineers that has led to many distinctive robots with artificial whisker sensing capabilities. One problem is to construct classifiers that can recognize a wide range of whisker sensations rather than constructing different classifiers for specific features. In this article, we demonstrate that a stationary naive Bayes classifier can perform such a general classification by applying it to various robot experiments. This classifier could be a key component of a robot able to learn autonomously about novel environments, where classifier properties are not known in advance.

Keywords

BIOTACT Active touch Whiskers Bayes’ rule Classifier 

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Copyright information

© Springer-Verlag Berlin Heidelberg 2011

Authors and Affiliations

  • Nathan F. Lepora
    • 1
  • Charles W. Fox
    • 1
  • Mat Evans
    • 1
  • Ben Mitchinson
    • 1
  • Asma Motiwala
    • 1
  • J. Charlie Sullivan
    • 2
  • Martin J. Pearson
    • 2
  • Jason Welsby
    • 2
  • Tony Pipe
    • 2
  • Kevin Gurney
    • 1
  • Tony J. Prescott
    • 1
  1. 1.Adaptive Behaviour Research Group, Department of PsychologyUniversity of SheffieldSheffieldUK
  2. 2.Bristol Robotics LaboratoryBristolUK