Advancing whisker based navigation through the implementation of Bio-Inspired whisking strategies

Mohammed A T S Salman; Martin Pearson

doi:10.1109/ROBIO.2016.7866416

Advancing whisker based navigation through the implementation of Bio-Inspired whisking strategies

Mohammed A T S Salman, Martin Pearson

Research output: Chapter in Book/Report/Conference proceeding › Conference Contribution (Conference Proceeding)

21 Citations (Scopus)

459 Downloads (Pure)

Abstract

An active whisking tactile sensor array has been successfully integrated with the RatSLAM algorithm and demonstrated as capable of reducing error in pose estimates of a mobile robot. A new metric for evaluating the performance of RatSLAM is introduced in order to evaluate the impact in performance of whisker-RatSLAM through the adoption of a biomimetic active whisker control scheme and different approaches to tactile sensory pre-processing. Improvements in performance are presented and discussed with respect to how whisker-RatSLAM could form the basis of a computationally efficient and robust localisation and mapping algorithm to adopt for tactile robotic exploration.

Original language	English
Title of host publication	2016 IEEE International Conference on Robotics and Biomimetics (ROBIO 2016)
Subtitle of host publication	Proceedings of a meeting held 3-7 December 2016, Qingdao, China
Publisher	Institute of Electrical and Electronics Engineers (IEEE)
Number of pages	7
ISBN (Electronic)	9781509043644
ISBN (Print)	9781509043651
DOIs	https://doi.org/10.1109/ROBIO.2016.7866416
Publication status	E-pub ahead of print - 2 Mar 2017
Event	2016 IEEE International Conference on Robotics and Biomimetics (ROBIO) - Qingdao, China Duration: 3 Dec 2016 → 7 Dec 2016 http://robio2016.org/

Conference

Conference	2016 IEEE International Conference on Robotics and Biomimetics (ROBIO)
Abbreviated title	ROBIO
Country/Territory	China
City	Qingdao
Period	3/12/16 → 7/12/16
Internet address	http://robio2016.org/

Keywords

Bioinspired
Biomimetic
WHISKERS
SLAM
RatSLAM

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10.1109/ROBIO.2016.7866416

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Salman, M. A. T. S., & Pearson, M. (2017). Advancing whisker based navigation through the implementation of Bio-Inspired whisking strategies. In 2016 IEEE International Conference on Robotics and Biomimetics (ROBIO 2016): Proceedings of a meeting held 3-7 December 2016, Qingdao, China Institute of Electrical and Electronics Engineers (IEEE). Advance online publication. https://doi.org/10.1109/ROBIO.2016.7866416

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title = "Advancing whisker based navigation through the implementation of Bio-Inspired whisking strategies",

abstract = "An active whisking tactile sensor array has been successfully integrated with the RatSLAM algorithm and demonstrated as capable of reducing error in pose estimates of a mobile robot. A new metric for evaluating the performance of RatSLAM is introduced in order to evaluate the impact in performance of whisker-RatSLAM through the adoption of a biomimetic active whisker control scheme and different approaches to tactile sensory pre-processing. Improvements in performance are presented and discussed with respect to how whisker-RatSLAM could form the basis of a computationally efficient and robust localisation and mapping algorithm to adopt for tactile robotic exploration.",

keywords = "Bioinspired, Biomimetic, WHISKERS, SLAM, RatSLAM",

author = "Salman, {Mohammed A T S} and Martin Pearson",

year = "2017",

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day = "2",

doi = "10.1109/ROBIO.2016.7866416",

language = "English",

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booktitle = "2016 IEEE International Conference on Robotics and Biomimetics (ROBIO 2016)",

publisher = "Institute of Electrical and Electronics Engineers (IEEE)",

address = "United States",

note = "2016 IEEE International Conference on Robotics and Biomimetics (ROBIO), ROBIO ; Conference date: 03-12-2016 Through 07-12-2016",

url = "http://robio2016.org/",

}

Salman, MATS & Pearson, M 2017, Advancing whisker based navigation through the implementation of Bio-Inspired whisking strategies. in 2016 IEEE International Conference on Robotics and Biomimetics (ROBIO 2016): Proceedings of a meeting held 3-7 December 2016, Qingdao, China. Institute of Electrical and Electronics Engineers (IEEE), 2016 IEEE International Conference on Robotics and Biomimetics (ROBIO), Qingdao, China, 3/12/16. https://doi.org/10.1109/ROBIO.2016.7866416

Advancing whisker based navigation through the implementation of Bio-Inspired whisking strategies. / Salman, Mohammed A T S; Pearson, Martin.
2016 IEEE International Conference on Robotics and Biomimetics (ROBIO 2016): Proceedings of a meeting held 3-7 December 2016, Qingdao, China. Institute of Electrical and Electronics Engineers (IEEE), 2017.

Research output: Chapter in Book/Report/Conference proceeding › Conference Contribution (Conference Proceeding)

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N2 - An active whisking tactile sensor array has been successfully integrated with the RatSLAM algorithm and demonstrated as capable of reducing error in pose estimates of a mobile robot. A new metric for evaluating the performance of RatSLAM is introduced in order to evaluate the impact in performance of whisker-RatSLAM through the adoption of a biomimetic active whisker control scheme and different approaches to tactile sensory pre-processing. Improvements in performance are presented and discussed with respect to how whisker-RatSLAM could form the basis of a computationally efficient and robust localisation and mapping algorithm to adopt for tactile robotic exploration.

AB - An active whisking tactile sensor array has been successfully integrated with the RatSLAM algorithm and demonstrated as capable of reducing error in pose estimates of a mobile robot. A new metric for evaluating the performance of RatSLAM is introduced in order to evaluate the impact in performance of whisker-RatSLAM through the adoption of a biomimetic active whisker control scheme and different approaches to tactile sensory pre-processing. Improvements in performance are presented and discussed with respect to how whisker-RatSLAM could form the basis of a computationally efficient and robust localisation and mapping algorithm to adopt for tactile robotic exploration.

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KW - Biomimetic

KW - WHISKERS

KW - SLAM

KW - RatSLAM

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DO - 10.1109/ROBIO.2016.7866416

M3 - Conference Contribution (Conference Proceeding)

SN - 9781509043651

BT - 2016 IEEE International Conference on Robotics and Biomimetics (ROBIO 2016)

PB - Institute of Electrical and Electronics Engineers (IEEE)

T2 - 2016 IEEE International Conference on Robotics and Biomimetics (ROBIO)

Y2 - 3 December 2016 through 7 December 2016

ER -

Salman MATS, Pearson M. Advancing whisker based navigation through the implementation of Bio-Inspired whisking strategies. In 2016 IEEE International Conference on Robotics and Biomimetics (ROBIO 2016): Proceedings of a meeting held 3-7 December 2016, Qingdao, China. Institute of Electrical and Electronics Engineers (IEEE). 2017 Epub 2017 Mar 2. doi: 10.1109/ROBIO.2016.7866416

Advancing whisker based navigation through the implementation of Bio-Inspired whisking strategies

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