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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Evans, M. Fox, C.W. Pearson, M.J. Lepora, N.F. Prescott, T.J. |
| Copyright Year | 2010 |
| Description | Author affiliation: Bristol Robotics Laboratory, Du Pont Building, Bristol Business Park, Coldharbour Lane, Frenchay, BS16 1QD, UK (Pearson, M.J.) || Active Touch Laboratory, Department of Psychology, University of Sheffield, Western Bank, S10 2TN, UK (Evans, M.; Fox, C.W.; Lepora, N.F.; Prescott, T.J.) |
| Abstract | Whiskered mammals such as rats are experts in tactile perception. By actively palpating surfaces with their whiskers, rats and mice are capable of acute texture discrimination and shape perception. We present a novel system for investigating whisker-object contacts repeatably and reliably. Using an XY positioning robot and a biomimetic artificial whisker we can generate signals for different whisker-object contacts under a wide range of conditions. Our system is also capable of dynamically altering the velocity and direction of the contact based on sensory signals. This provides a means for investigating sensory motor interaction in the tactile domain. Here we implement active contact control, and investigate the effect that speed has on radial distance estimation when using different features for classification. In the case of a moving object contacting a whisker, magnitude of deflection can be ambiguous in distinguishing a nearby object moving slowly from a more distant object moving rapidly. This ambiguity can be resolved by finding robust features for contact speed, which then informs classification of radial distance. Our results are verified on a dataset from SCRATCHbot, a whiskered mobile robot. Building whiskered robots and modelling these tactile perception capabilities would allow exploration and navigation in environments where other sensory modalities are impaired, for example in dark, dusty or loud environments such as disaster areas. |
| Starting Page | 720 |
| Ending Page | 725 |
| File Size | 710249 |
| Page Count | 6 |
| File Format | |
| ISBN | 9781424493197 |
| e-ISBN | 9781424493180 |
| DOI | 10.1109/ROBIO.2010.5723415 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2010-12-14 |
| Publisher Place | China |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Robot sensing systems Hall effect Rats Computational modeling Magnetic cores |
| Content Type | Text |
| Resource Type | Article |
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