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Tactile SLAM with a biomimetic whiskered robot

Fox, Charles W; Evans, Matt; Pearson, Martin; Prescott, Tony J.

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Authors

Charles W Fox

Matt Evans

Tony J. Prescott



Abstract

Future robots may need to navigate where visual sensors fail. Touch sensors provide an alternative modality, largely unexplored in the context of robotic map building. We present the first results in grid based simultaneous localisation and mapping (SLAM) with biomimetic whisker sensors, and show how multi-whisker features coupled with priors about straight edges in the world can boost its performance. Our results are from a simple, small environment but are intended as a first baseline to measure future algorithms against. © 2012 IEEE.

Citation

Fox, C. W., Evans, M., Pearson, M., & Prescott, T. J. (2012). Tactile SLAM with a biomimetic whiskered robot. In 2012 IEEE International Conference on Robotics and Automation (4925-4930). https://doi.org/10.1109/ICRA.2012.6224813

Conference Name IEEE International Conference on Robotics and Automation
Conference Location Saint Paul, Minnesota, USA
Start Date May 14, 2012
End Date May 18, 2012
Online Publication Date Jun 28, 2012
Publication Date 2012
Deposit Date Jan 21, 2013
Publicly Available Date Feb 10, 2016
Publisher Institute of Electrical and Electronics Engineers
Peer Reviewed Peer Reviewed
Pages 4925-4930
Book Title 2012 IEEE International Conference on Robotics and Automation
ISBN 9781467314039
DOI https://doi.org/10.1109/ICRA.2012.6224813
Keywords SLAM, biomimetic whiskered robot, tactile
Public URL https://uwe-repository.worktribe.com/output/952902
Additional Information Title of Conference or Conference Proceedings : IEEE International Conference on Robotics and Automation (ICRA)

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© 2012 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.







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