@article {927141,
	title = {Tactile exploration by autonomous contour following using a biomimetic fingertip},
	year = {Submitted},
	abstract = {\&nbsp;Touch is used by humans to estimate object shape using\&nbsp;the contour following exploratory procedure. Here we demonstrate autonomous robotic contour following with a biomimetic tactile fingertip,\&nbsp;the TacTip, using an active touch method previously developed for different types of touch sensors. We use Bayesian sequential analysis for\&nbsp;perception and implement an active control strategy to follow an object\&nbsp;contour. The technique is tested on a 110mm diameter circle and yields\&nbsp;results comparable with those previously achieved on different sensors.\&nbsp;We intend to extend the work onto a different robot platform with improved trajectory control to improve robustness, speed and match with\&nbsp;human performance.\&nbsp;\&nbsp;},
	author = {N. Pestell and B. Ward-Cherrier and L. Cramphorn and N. Lepora}
}
