Visual-tactile sensory map calibration of a biomimetic whiskered robot

Assaf, Tareq and Wilson, Emma Denise and Anderson, Sean R and Dean, Paul and Porrill, John and Pearson, Martin J (2016) Visual-tactile sensory map calibration of a biomimetic whiskered robot. In: 2016 IEEE International Conference on Robotics and Automation (ICRA). IEEE, pp. 967-972. ISBN 9781467380263

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We present an adaptive filter model of cerebellar function applied to the calibration of a tactile sensory map to improve the accuracy of directed movements of a robotic manipulator. This is demonstrated using a platform called Bellabot that incorporates an array of biomimetic tactile whiskers, actuated using electro-active polymer artificial muscles, a camera to provide visual error feedback, and a standard industrial robotic manipulator. The algorithm learns to accommodate imperfections in the sensory map that may be as a result of poor manufacturing tolerances or damage to the sensory array. Such an ability is an important pre-requisite for robust tactile robotic systems operating in the real-world for extended periods of time. In this work the sensory maps have been purposely distorted in order to evaluate the performance of the algorithm.

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08 Mar 2019 13:25
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16 Sep 2023 03:15