Probabilistic Classification of Grasping Behaviours Using Visuo-Haptic Perception

  • S. Jafar Hosseini
  • Diego R. Faria
  • Jorge Lobo
  • Jorge Dias
Part of the IFIP Advances in Information and Communication Technology book series (IFIPAICT, volume 372)

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.

Keywords

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

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Copyright information

© IFIP International Federation for Information Processing 2012

Authors and Affiliations

  • S. Jafar Hosseini
    • 1
  • Diego R. Faria
    • 1
  • Jorge Lobo
    • 1
  • Jorge Dias
    • 1
  1. 1.ISR - Institute of Systems and Robotics, DEEC, FCTUniversity of CoimbraPortugal

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