Object localisation using active whiskers on underwater autonomous walking robot

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 artificial 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.

• Conference Name: Proceedings of the 14th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines
• Start Date: Sep 6, 2011
• End Date: Sep 8, 2011
• Publication Date: Aug 1, 2011
• Publicly Available Date: Jun 8, 2019
• Peer Reviewed: Peer Reviewed
• Pages: 190-195
• Book Title: Field Robotics: Proceedings of the 14th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines
• ISBN: 9789814374279
• DOI: https://doi.org/10.1142/8305
• Keywords: biomimetic, whisker, underwater robots, legged locomotion
• Public URL: https://uwe-repository.worktribe.com/output/960516
• Publisher URL: http://www.worldscientific.com/worldscibooks/10.1142/8305
• Additional Information: Additional Information : Object localisation using active whiskers on underwater autonomous walking robot, Rooney, T., Pearson, M., Welsby, J., Horsfield, I., Sewell, R. and Dogramadzi, S., Copyright 2011 with permission from World Scientific Publishing Co. Pte. Ltd.