Tactile SLAM with a biomimetic whiskered robot

Fox, Charles; Evans, Mat; Pearson, Martin J.; Prescott, Tony J.

doi:10.1109/icra.2012.6224813

Cited by 45 publications

(34 citation statements)

References 19 publications

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“…Previous implementations of artificial whisker sensing, reviewed in [14,15], have shown them to be useful for navigation [16,17] as well as for object identification/localisation [5,[18][19][20]. At the same time, robots with whiskers are helping biologists to understand the nature of the task facing biological whisker specialists [15,21].…”

Section: Introductionmentioning

confidence: 99%

Biomimetic tactile target acquisition, tracking and capture

Mitchinson

Pearson

Pipe

et al. 2014

Robotics and Autonomous Systems

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Section: Introductionmentioning

confidence: 99%

Biomimetic tactile target acquisition, tracking and capture

Mitchinson

Pearson

Pipe

et al. 2014

Robotics and Autonomous Systems

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“…For example, when aiming at obstacle avoidance, it is impossible to achieve full avoidance, as the robot needs to make contact with the obstacle in order to realise its presence. However, in [84,85], it is demonstrated that environment representation can be achieved purely by contact sensors. In this case, whisker-like contact sensors were used in a SLAM framework to produce an environment representation that could potentially be used for planning and obstacle-aided locomotion purposes.…”

Section: Survey Of Environment Perception For Locomotion In Snake Robotsmentioning

confidence: 99%

Perception-Driven Obstacle-Aided Locomotion for Snake Robots: The State of the Art, Challenges and Possibilities †

et al. 2017

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In nature, snakes can gracefully traverse a wide range of different and complex environments. Snake robots that can mimic this behaviour could be fitted with sensors and transport tools to hazardous or confined areas that other robots and humans are unable to access. In order to carry out such tasks, snake robots must have a high degree of awareness of their surroundings (i.e., perception-driven locomotion) and be capable of efficient obstacle exploitation (i.e., obstacle-aided locomotion) to gain propulsion. These aspects are pivotal in order to realise the large variety of possible snake robot applications in real-life operations such as fire-fighting, industrial inspection, search-and-rescue, and more. In this paper, we survey and discuss the state of the art, challenges, and possibilities of perception-driven obstacle-aided locomotion for snake robots. To this end, different levels of autonomy are identified for snake robots and categorised into environmental complexity, mission complexity, and external system independence. From this perspective, we present a step-wise approach on how to increment snake robot abilities within guidance, navigation, and control in order to target the different levels of autonomy. Pertinent to snake robots, we focus on current strategies for snake robot locomotion in the presence of obstacles. Moreover, we put obstacle-aided locomotion into the context of perception and mapping. Finally, we present an overview of relevant key technologies and methods within environment perception, mapping, and representation that constitute important aspects of perception-driven obstacle-aided locomotion.

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“…Two models were fitted to the whisker data at each sample: one a model of a flat vertical wall (W), the other a model of Preybot (P, a 150mm radius hemisphere atop a cylindrical base of 100mm height). The cost for each model (J W and J P , respectively) has two components: the first penalises contact locations that lay distant from the model surface; the second penalises whisker deflections that are in a different direction to that expected given the local surface orientation at the contact location [9]. A time series called 'prey belief' is constructed from these cost values,…”

Section: Modelsmentioning

confidence: 99%