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

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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
Publisher or commissioning bodyInstitute of Electrical and Electronics Engineers (IEEE)
Number of pages7
ISBN (Electronic)9781509043644
ISBN (Print)9781509043651
DOIs
StateE-pub ahead of print - 2 Mar 2017
Event2016 IEEE International Conference on Robotics and Biomimetics (ROBIO) - Qingdao, China

Conference

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

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.

    Research areas

  • Bioinspired, Biomimetic, WHISKERS, SLAM, RatSLAM

Event

2016 IEEE International Conference on Robotics and Biomimetics (ROBIO)

Abbreviated titleROBIO
Duration3 Dec 20167 Dec 2016
CityQingdao
CountryChina
Web address (URL)
Degree of recognitionInternational event

Event: Conference

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Documents

Documents

  • Full-text PDF (accepted author manuscript)

    Rights statement: This is the author accepted manuscript (AAM). The final published version (version of record) is available online via IEEE at http://ieeexplore.ieee.org/document/7866416/. Please refer to any applicable terms of use of the publisher.

    Accepted author manuscript, 595 KB, PDF-document

DOI

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