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Object localisation using active whiskers on underwater autonomous walking robot

Rooney, Tom; Pearson, Martin; Welsby, Jason; Horsfield, Ian; Sewell, Richard; Dogramadzi, Sanja

Object localisation using active whiskers on underwater autonomous walking robot Thumbnail


Authors

Tom Rooney

Jason Welsby

Ian Horsfield

Richard Sewell



Contributors

Philippe Bidaud
Editor

Mohammad O Tokhi
Editor

Christophe Grande
Editor

Gurvinder S Virk
Editor

Abstract

A low-cost, biologically inspired underwater walking robot (see Fig. 1) has been designed and built to covertly explore the seabed and to determine properties of submerged objects in obscure and inaccessible underwater locations. This paper focuses on a preliminary evaluation of an artificial active whisker to instrument this platform. Results demonstrate that both range and bearing to
objects contacted by the whisker can be determined using simple data driven heuristics.

Conference Name Proceedings of the 14th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines
Start Date Sep 6, 2011
End Date Sep 8, 2011
Publication Date Aug 1, 2011
Publicly Available Date Jun 8, 2019
Peer Reviewed Peer Reviewed
Pages 190-195
Book Title Field Robotics: Proceedings of the 14th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines
ISBN 9789814374279
DOI https://doi.org/10.1142/8305
Keywords biomimetic, whisker, underwater robots, legged locomotion
Public URL https://uwe-repository.worktribe.com/output/960516
Publisher URL http://www.worldscientific.com/worldscibooks/10.1142/8305
Additional Information Additional Information : Object localisation using active whiskers on underwater autonomous walking robot, Rooney, T., Pearson, M., Welsby, J., Horsfield, I., Sewell, R. and Dogramadzi, S., Copyright 2011 with permission from World Scientific Publishing Co. Pte. Ltd.

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