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Tactile SLAM with a biomimetic whiskered robot

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

Authors

Charles W Fox

Matt Evans

Tony J. Prescott



Abstract

Tomorrow’s robots may need to navigate in sit-
uations where visual sensors fail. Touch sensors provide an
alternative modality which has not previously been explored 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 prior knowledge 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.

Citation

Fox, C. W., Evans, M., Pearson, M., & Prescott, T. J. (2012, May). Tactile SLAM with a biomimetic whiskered robot. Paper presented at IEEE International Conference on Robotics and Automation

Presentation Conference Type Conference Paper (unpublished)
Conference Name IEEE International Conference on Robotics and Automation
Start Date May 14, 2012
End Date May 18, 2012
Publication Date Jan 1, 2012
Peer Reviewed Peer Reviewed
Keywords SLAM, biomimetic whiskered robot, tactile
Additional Information Title of Conference or Conference Proceedings : IEEE International Conference on Robotics and Automation (ICRA)

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