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 proceedingConference Contribution (Conference Proceeding)

5 Citations (Scopus)
276 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 languageEnglish
Title of host publication2016 IEEE International Conference on Robotics and Biomimetics (ROBIO 2016)
Subtitle of host publicationProceedings of a meeting held 3-7 December 2016, Qingdao, China
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Number of pages7
ISBN (Electronic)9781509043644
ISBN (Print)9781509043651
DOIs
Publication statusE-pub ahead of print - 2 Mar 2017
Event2016 IEEE International Conference on Robotics and Biomimetics (ROBIO) - Qingdao, China
Duration: 3 Dec 20167 Dec 2016
http://robio2016.org/

Conference

Conference2016 IEEE International Conference on Robotics and Biomimetics (ROBIO)
Abbreviated titleROBIO
CountryChina
CityQingdao
Period3/12/167/12/16
Internet address

Keywords

  • Bioinspired
  • Biomimetic
  • WHISKERS
  • SLAM
  • RatSLAM

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  • Cite this

    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). https://doi.org/10.1109/ROBIO.2016.7866416