Contour-Net - A Model for Tactile Contour-tracing and Shape-recognition

André Frank Krause, Thierry Hoinville, Nalin Harischandra, Volker Dürr


We propose Contour-Net as a bio-inspired model for rhythmic movement control of a pair of insectoid feelers, able to successively sample the contour of arbitrarily shaped objects. Initial object contact initiates a smooth transition from a large-amplitude, low-frequency searching behaviour to a local, small-amplitude and high frequency sampling behaviour. Both behavioural states are defined by the parameters of a Hopf Oscillator. Subsequent contact signals trigger a 180º phase-forwarding of the oscillator, resulting in repeated sampling of the object. The local sampling behaviour effectively serves as a contour-tracing method with high robustness, even for complicated shapes. Collected contour data points can be directly fed into an artificial neural network to classify the shape of an object. Given a sufficiently large training dataset, tactile shape recognition can be achieved in a position-, orientation- and size-invariant manner. Only minimal pre-processing (normalisation) of contour data points is required.


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Paper Citation

in Harvard Style

Frank Krause A., Hoinville T., Harischandra N. and Dürr V. (2014). Contour-Net - A Model for Tactile Contour-tracing and Shape-recognition . In Proceedings of the 6th International Conference on Agents and Artificial Intelligence - Volume 2: ICAART, ISBN 978-989-758-016-1, pages 92-101. DOI: 10.5220/0004821700920101

in Bibtex Style

author={André Frank Krause and Thierry Hoinville and Nalin Harischandra and Volker Dürr},
title={Contour-Net - A Model for Tactile Contour-tracing and Shape-recognition},
booktitle={Proceedings of the 6th International Conference on Agents and Artificial Intelligence - Volume 2: ICAART,},

in EndNote Style

JO - Proceedings of the 6th International Conference on Agents and Artificial Intelligence - Volume 2: ICAART,
TI - Contour-Net - A Model for Tactile Contour-tracing and Shape-recognition
SN - 978-989-758-016-1
AU - Frank Krause A.
AU - Hoinville T.
AU - Harischandra N.
AU - Dürr V.
PY - 2014
SP - 92
EP - 101
DO - 10.5220/0004821700920101