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Artificial active whiskers for guiding underwater autonomous walking robots

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


Tom Rooney

Jason Welsby

Ian Horsfield

Richard Sewell


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 arti?cial 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.


Rooney, T., Pearson, M., Welsby, J., Horsfield, I., Sewell, R., & Dogramadzi, S. (2011, September). Artificial active whiskers for guiding underwater autonomous walking robots. Paper presented at CLAWAR 2011

Presentation Conference Type Conference Paper (unpublished)
Conference Name CLAWAR 2011
Start Date Sep 6, 2011
End Date Sep 8, 2011
Publication Date Sep 6, 2011
Peer Reviewed Peer Reviewed
Keywords artificial active whiskers, underwater autonomous walking robots
Publisher URL
Additional Information Title of Conference or Conference Proceedings : CLAWAR 2011


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