Biomimetic tactile target acquisition, tracking and capture

Prescott, Tony J.; Pearson, Martin J.; Mitchinson, Ben; Pearson, Martin; Pipe, Anthony G.; Prescott, Tony

Abstract

Good performance in unstructured/uncertain environments is an ongoing problem in robotics; in biology, it is an everyday observation. Here, we model a particular biological system - hunting in the Etruscan shrew - as a case study in biomimetic robot design. These shrews strike rapidly and accurately after gathering very limited sensory information from their whiskers; we attempt to mimic this performance by using model-based simultaneous discrimination and localisation of a 'prey' robot (i.e. by using strong priors to make sense of limited sensory data), building on our existing low-level models of attention and appetitive behaviour in small mammals. We report performance that is comparable, given the spatial and temporal scale differences, to shrew performance, and discuss what this study reveals about biomimetic robot design in general. © 2013 Elsevier B.V. All rights reserved.

Citation

Prescott, T. J., Pearson, M. J., Mitchinson, B., Pearson, M., Pipe, A. G., & Prescott, T. (2014). Biomimetic tactile target acquisition, tracking and capture. Robotics and Autonomous Systems, 62(3), 366-375. https://doi.org/10.1016/j.robot.2013.08.013

• Journal Article Type: Conference Paper
• Acceptance Date: Oct 1, 2013
• Online Publication Date: Oct 8, 2013
• Publication Date: Mar 1, 2014
• Deposit Date: Jan 28, 2016
• Publicly Available Date: Jun 9, 2016
• Journal: Robotics and Autonomous Systems
• Print ISSN: 0921-8890
• Publisher: Elsevier
• Peer Reviewed: Peer Reviewed
• Volume: 62
• Issue: 3
• Pages: 366-375
• DOI: https://doi.org/10.1016/j.robot.2013.08.013
• Keywords: biomimetic, tactile, whiskers, autonomous mobile robotics
• Public URL: https://uwe-repository.worktribe.com/output/820597
• Publisher URL: http://dx.doi.org/10.1016/j.robot.2013.08.013