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This module is a solution for Task 4-1 of the TACMAN project. The robot incrementally constructs the surface of an object using tactile sensors. This module implements two solutions: one based on Gaussian process regression and one based on Gaussian process classification. For more details please read the README file.

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tacman-fp7/object-surface-exploration

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Object-surface-exploration

This module is a solution for Task 4-1 of the TACMAN project. The robot incrementally constructs the surface of an object using tactile sensors. This module implements two solutions: one based on Gaussian process regression and one based on Gaussian process classification. For more details please read the README file.

Dependencies

iCub: YARP, icub-main and icub-contrib

GURLS

froce-cop-estimator

How to compile

Use cmake to compile for your OS distribution. Under Linux you can compile it as follows:

mkdir build
cd build
ccmake ..
make install

How to run

object-surface-exploration --from <config-file>

Control port (YARP rpc port)

/object-surface-exploration/rpc:i

commands:

Help display available commands

explore <exploration-type> <object-name> explores the workspace defined in the config file. Valid exploration-types are: regression, classification and multi

Publications

Jamali, N; Ciliberto, C ; Rosasco, L; Natale,~L (2016). ``Active perception: Building Objects' Models using Tactile Exploration''. In the proceedings of the IEEE-RAS International Conference on Humanoids.

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About

This module is a solution for Task 4-1 of the TACMAN project. The robot incrementally constructs the surface of an object using tactile sensors. This module implements two solutions: one based on Gaussian process regression and one based on Gaussian process classification. For more details please read the README file.

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