Architecture of an integrated sensorial system-application to real or simulated tactile sensors

A proposed development for robotic sensor based systems is described. This development environment is based on artificial intelligence techniques where object programming, reactive programming, and frame representation play a fundamental role. An application of this development environment to active tactile sensors is described in detail. Several possibilities of integrating different sensorial sources (touch, force, and location) are presented. Based on this integration, the notions of 2-D and 3-D tactile features are discussed. Some future research directions are introduced. Some proposals are presented for modeling objects based on 2-D and 3-D tactile features. Strategies for the extraction of a new 3-D tactile feature which depend on the previous extracted tactile information are also discussed