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Biomimetic tactile target acquisition, tracking and capture

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

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Tony J. Prescott

Martin J. Pearson

Ben Mitchinson

Tony Prescott


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.


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.

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
Keywords biomimetic, tactile, whiskers, autonomous mobile robotics
Public URL
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