Object localisation using active whiskers on underwater autonomous walking robot

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

doi:10.1142/8305

Authors

Tom Rooney

Martin Pearson Martin.Pearson@uwe.ac.uk
Senior Lecturer

Jason Welsby

Ian Horsfield

Richard Sewell

Sanja Dogramadzi Sanja.Dogramadzi@uwe.ac.uk@uwe.ac.uk
Professor in Medical Robotics

Contributors

Philippe Bidaud
Editor

Mohammad O Tokhi
Editor

Christophe Grande
Editor

Gurvinder S Virk
Editor

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.

Citation

Rooney, T., Pearson, M., Welsby, J., Horsfield, I., Sewell, R., & Dogramadzi, S. (2011). Object localisation using active whiskers on underwater autonomous walking robot. In P. Bidaud, M. O. Tokhi, C. Grande, & G. S. Virk (Eds.), Field Robotics: Proceedings of the 14th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, 190-195. World Scientific Publishing Co. https://doi.org/10.1142/8305

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
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
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.