Artificial active whiskers for guiding underwater autonomous walking robots

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

Abstract

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.

Citation

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• Presentation Conference Type: Conference Paper (unpublished)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: http://clawar2011.isir.upmc.fr/index.php?z=1&perma=Index
• Additional Information: Title of Conference or Conference Proceedings : CLAWAR 2011