Adaptive cancelation of self-generated sensory signals in a whisking robot

Anderson, Sean R.; Pearson, Martin; Prescott, Tony J.; Pipe, Anthony; Dean, Paul; Porrill, John

Abstract

Sensory signals are often caused by ones own active movements. This raises a problem of discriminating between self-generated sensory signals and signals generated by the external world. Such discrimination is of general importance for robotic systems, where operational robustness is dependent on the correct interpretation of sensory signals. Here, we investigate this problem in the context of a whiskered robot. The whisker sensory signal comprises two components: one due to contact with an object (externally generated) and another due to active movement of the whisker (self-generated). We propose a solution to this discrimination problem based on adaptive noise cancelation, where the robot learns to predict the sensory consequences of its own movements using an adaptive filter. The filter inputs (copy of motor commands) are transformed by Laguerre functions instead of the often-used tapped-delay line, which reduces model order and, therefore, computational complexity. Results from a contact-detection task demonstrate that false positives are significantly reduced using the proposed scheme. © 2010 IEEE.

• Journal Article Type: Article
• Publication Date: Dec 1, 2010
• Deposit Date: Feb 20, 2013
• Publicly Available Date: Apr 12, 2016
• Journal: IEEE Transactions on Robotics
• Print ISSN: 1552-3098
• Publisher: Institute of Electrical and Electronics Engineers
• Peer Reviewed: Peer Reviewed
• Volume: 26
• Issue: 6
• Pages: 1065-1076
• DOI: https://doi.org/10.1109/TRO.2010.2069990
• Keywords: learning and adaptive systems, neurorobotics,; force and tactile sensing, noise cancellation, laguerre functions
• Public URL: https://uwe-repository.worktribe.com/output/972879
• Publisher URL: http://dx.doi.org/10.1109/TRO.2010.2069990
• Additional Information: Additional Information : (c) 2010 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.
• Contract Date: Apr 12, 2016