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Active whisker placement and exploration for rapid object recognition (2020)
Conference Proceeding
Pearson, M. J., & Salman, M. (2020). Active whisker placement and exploration for rapid object recognition. https://doi.org/10.1109/iros40897.2019.8968517

© 2019 IEEE. Identifying objects using sparse tactile sensor arrays requires movement across the surface and the integration of sensory information to support hypotheses. In this study we demonstrate a surface placement control strategy to orient and... Read More about Active whisker placement and exploration for rapid object recognition.

Fast, flexible closed-loop feedback: Tracking movement in “real-millisecond-time” (2019)
Journal Article
Sehara, K., Bahr, V., Mitchinson, B., Pearson, M. J., Larkum, M. E., & Sachdev, R. N. S. (2019). Fast, flexible closed-loop feedback: Tracking movement in “real-millisecond-time”. eNeuro, 6(6), https://doi.org/10.1523/eneuro.0147-19.2019

© 2019 Sehara et al. One of the principal functions of the brain is to control movement and rapidly adapt behavior to a changing external environment. Over the last decades our ability to monitor activity in the brain, manipulate it while also manipu... Read More about Fast, flexible closed-loop feedback: Tracking movement in “real-millisecond-time”.

Feed-forward selection of cerebellar models for calibration of robot sound source localization (2019)
Conference Proceeding
Baxendale, M. D., Nibouche, M., Secco, E. L., Pipe, A. G., & Pearson, M. J. (2019). Feed-forward selection of cerebellar models for calibration of robot sound source localization. https://doi.org/10.1007/978-3-030-24741-6_1

© 2019, Springer Nature Switzerland AG. We present a responsibility predictor, based on the adaptive filter model of the cerebellum, to provide feed-forward selection of cerebellar calibration models for robot Sound Source Localization (SSL), based o... Read More about Feed-forward selection of cerebellar models for calibration of robot sound source localization.

Whisker-ratSLAM applied to 6D object identification and spatial localisation (2018)
Conference Proceeding
Salman, M., & Pearson, M. J. (2018). Whisker-ratSLAM applied to 6D object identification and spatial localisation. https://doi.org/10.1007/978-3-319-95972-6_44

© Springer International Publishing AG, part of Springer Nature 2018. The problem of tactile object identification has a strong connection with the problem of Simultaneous Localization and Mapping (SLAM) in a physical 6-dimensional environment. Here... Read More about Whisker-ratSLAM applied to 6D object identification and spatial localisation.

An adaptive modular recurrent cerebellum-inspired controller (2017)
Conference Proceeding
Maheri, K., Lenz, A., & Pearson, M. J. (2017). An adaptive modular recurrent cerebellum-inspired controller. In M. Mangan, C. Mark, A. Mura, P. Verschure, T. Prescott, & L. Nathan (Eds.), https://doi.org/10.1007/978-3-319-63537-8_23

Animals and robots face the common challenge of interacting with an unstructured environment. While animals excel and thrive in such environments, modern robotics struggles to effectively execute simple tasks. To help improve performance in the face... Read More about An adaptive modular recurrent cerebellum-inspired controller.

Feather-inspired sensor for stabilizing unmanned aerial vehicles in turbulent conditions (2017)
Book Chapter
Kouppas, C., Pearson, M. J., Dean, P., & Anderson, S. (2017). Feather-inspired sensor for stabilizing unmanned aerial vehicles in turbulent conditions. In M. Mangan, M. Cutkosky, A. Mura, P. Verschure, T. Prescott, & N. Lepora (Eds.), Biomimetic and Biohybrid Systems, 230-241. Springer link

Stabilizing unmanned aerial vehicles (UAVs) in turbulent conditions is a challenging problem. Typical methods of stabilization do not use feedforward information about the airflow disturbances but only UAV attitude feedback signals, e.g. from an iner... Read More about Feather-inspired sensor for stabilizing unmanned aerial vehicles in turbulent conditions.

Self-adaptive context aware audio localization (2017)
Book Chapter
Baxendale, M., Pearson, M. J., Nibouche, M., Secco, M., & Pipe, A. G. (2017). Self-adaptive context aware audio localization. In C. Lekakou, Y. Jin, S. Fallah, & G. Yang (Eds.), Towards Autonomous Robotic Systems, 66-78. Springer link

An audio sensor system is presented that uses multiple cere- bellar models to determine the acoustic environment in which a robot is operating, allowing the robot to select appropriate models to calibrate its audio-motor map for the detected environ... Read More about Self-adaptive context aware audio localization.

Advancing whisker based navigation through the implementation of bio-inspired whisking strategies (2016)
Presentation / Conference
Salman, M., & Pearson, M. (2016, December). Advancing whisker based navigation through the implementation of bio-inspired whisking strategies. Paper presented at IEEE International Conference On Robotics And Biomimetics (ROBIO 2016)

An active whisking tactile sensor array has been successfully integrated with the RatSLAM algorithm and demonstrated as capable of reducing error in pose estimates of a mobile robot. A new metric for evaluating the performance of RatSLAM is introdu... Read More about Advancing whisker based navigation through the implementation of bio-inspired whisking strategies.

Cerebellar-inspired algorithm for adaptive control of nonlinear dielectric elastomerbased artificial muscle (2016)
Journal Article
Pearson, M. J., Wilson, E. D., Assaf, T., Pearson, M., Rossiter, J. M., Anderson, S. R., …Dean, P. (2016). Cerebellar-inspired algorithm for adaptive control of nonlinear dielectric elastomerbased artificial muscle. Interface, 13(122), https://doi.org/10.1098/rsif.2016.0547

© 2016 The Author(s) Published by the Royal Society. All rights reserved. Electroactive polymer actuators are important for soft robotics, but can be difficult to control because of compliance, creep and nonlinearities. Because biological control mec... Read More about Cerebellar-inspired algorithm for adaptive control of nonlinear dielectric elastomerbased artificial muscle.

Visual-tactile sensory map calibration of a biomimetic whiskered robot (2016)
Journal Article
Pearson, M. J., Assaf, T., Wilson, E. D., Anderson, S., Dean, P., Porrill, J., & Pearson, M. (2016). Visual-tactile sensory map calibration of a biomimetic whiskered robot. IEEE International Conference on Robotics and Automation, 2016-June, 967-972. https://doi.org/10.1109/ICRA.2016.7487228

© 2016 IEEE. We present an adaptive filter model of cerebellar function applied to the calibration of a tactile sensory map to improve the accuracy of directed movements of a robotic manipulator. This is demonstrated using a platform called Bellabot... Read More about Visual-tactile sensory map calibration of a biomimetic whiskered robot.

The robot vibrissal system: Understanding mammalian sensorimotor co-ordination through biomimetics (2015)
Book Chapter
Prescott, T., Mitchinson, B., Lepora, N., Wilson, S., Anderson, S., Porrill, J., …Pipe, A. G. (2015). The robot vibrissal system: Understanding mammalian sensorimotor co-ordination through biomimetics. In A. Groh, & P. Krieger (Eds.), Sensorimotor Integration in the Whisker System, 213-240. Springer. https://doi.org/10.1007/978-1-4939-2975-7_10

We consider the problem of sensorimotor co-ordination in mammals through the lens of vibrissal touch, and via the methodology of embodied computational neuroscience—using biomimetic robots to synthesize and investigate models of mammalian brain archi... Read More about The robot vibrissal system: Understanding mammalian sensorimotor co-ordination through biomimetics.

Biohybrid control of general linear systems using the adaptive filter model of cerebellum (2015)
Journal Article
Porrill, J., Rossiter, J. M., Pearson, M. J., Wilson, E. D., Anderson, S. R., Wilson, E., …Porril, J. (2015). Biohybrid control of general linear systems using the adaptive filter model of cerebellum. Frontiers in Neurorobotics, 9(JUL), https://doi.org/10.3389/fnbot.2015.00005

© 2015 Wilson, Assaf, Pearson, Rossiter, Dean, Anderson and Porrill. The adaptive filter model of the cerebellar microcircuit has been successfully applied to biological motor control problems, such as the vestibulo-ocular reflex (VOR), and to sensor... Read More about Biohybrid control of general linear systems using the adaptive filter model of cerebellum.

Measuring the local viscosity and velocity of fluids using a biomimetic tactile whisker (2015)
Journal Article
Pipe, T., Rooney, T., Pearson, M. J., & Pipe, A. G. (2015). Measuring the local viscosity and velocity of fluids using a biomimetic tactile whisker. Lecture Notes in Artificial Intelligence, 9222, 75-85. https://doi.org/10.1007/978-3-319-22979-9_7

© Springer International Publishing Switzerland 2015. A novel technique for determining the relative visco-density of fluids using an actuated flexible beam inspired by the tactile whiskers of marine mammals is presented. This was developed for the i... Read More about Measuring the local viscosity and velocity of fluids using a biomimetic tactile whisker.

High speed switched, multi-channel drive for high voltage dielectric actuation of a biomimetic sensory array (2014)
Journal Article
Pearson, M. J., Pearson, M., & Assaf, T. (2014). High speed switched, multi-channel drive for high voltage dielectric actuation of a biomimetic sensory array. Lecture Notes in Artificial Intelligence, 8608 LNAI, 414-416. https://doi.org/10.1007/978-3-319-09435-9_47

Electro-Active Polymers (EAP) have been described as artificial muscles due to their composition andmuscle-like dynamics [1]. Consequently they have attracted a lot of attention from the biomimetic robotics research community and heralded as a potent... Read More about High speed switched, multi-channel drive for high voltage dielectric actuation of a biomimetic sensory array.

Simultaneous localisation and mapping on a multi-degree of freedom biomimetic whiskered robot (2013)
Journal Article
Sullivan, J. C., Fox, C., Pearson, M. J., Pearson, M., Fox, C. W., Sullivan, J. C., …Mitchinson, B. (2013). Simultaneous localisation and mapping on a multi-degree of freedom biomimetic whiskered robot. IEEE International Conference on Robotics and Automation, 586-592. https://doi.org/10.1109/ICRA.2013.6630633

A biomimetic mobile robot called 'Shrewbot' has been built as part of a neuroethological study of the mammalian facial whisker sensory system. This platform has been used to further evaluate the problem space of whisker based tactile Simultaneous Loc... Read More about Simultaneous localisation and mapping on a multi-degree of freedom biomimetic whiskered robot.

Biomimetic tactile target acquisition, tracking and capture (2013)
Journal Article
Prescott, T. J., Pearson, M. J., Mitchinson, B., Pearson, M., Pipe, A. G., & Prescott, T. (2014). Biomimetic tactile target acquisition, tracking and capture. Robotics and Autonomous Systems, 62(3), 366-375. https://doi.org/10.1016/j.robot.2013.08.013

Good performance in unstructured/uncertain environments is an ongoing problem in robotics; in biology, it is an everyday observation. Here, we model a particular biological system - hunting in the Etruscan shrew - as a case study in biomimetic robot... Read More about Biomimetic tactile target acquisition, tracking and capture.

Joint conferences - TAROS 2012 and FIRA 2012 (2013)
Journal Article
Pearson, M., Conn, A., & Herrmann, G. (2014). Joint conferences - TAROS 2012 and FIRA 2012. Robotics and Autonomous Systems, 62(3), 281. https://doi.org/10.1016/j.robot.2013.09.008

This special issue contains ten extended, peer-reviewed papers specially selected from 36 full papers [1] and presented at the joint conferences of TAROS 2012 (Towards Autonomous Robotic Systems 2012) and FIRA 2012 (the Robot World Congress of the F... Read More about Joint conferences - TAROS 2012 and FIRA 2012.

The effect of whisker movement on radial distance estimation: A case study in comparative robotics (2013)
Journal Article
estimation: A case study in comparative robotics. Frontiers in Neurorobotics, 6(12), https://doi.org/10.3389/fnbot.2012.00012

Whisker movement has been shown to be under active control in certain specialist animals such as rats and mice. Though this whisker movement is well characterized, the role and effect of this movement on subsequent sensing is poorly understood. One... Read More about The effect of whisker movement on radial distance estimation: A case study in comparative robotics.

Whisker texture classification with uncertain contact pose geometry (2012)
Presentation / Conference
Evans, M., Pearson, M., Prescott, T. J., & Fox, C. W. (2012, October). Whisker texture classification with uncertain contact pose geometry. Paper presented at IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012)

Tactile sensing can be an important source of information for robots, and texture discrimination in partic- ular is useful in object recognition and terrain identification. Whisker based tactile sensing has recently been shown to be a promising a... Read More about Whisker texture classification with uncertain contact pose geometry.

Towards tactile sensing applied to underwater autonomous vehicles for near shore survey and de-mining (2012)
Journal Article
Pearson, M. J., Pipe, A. G., Rooney, T., Pipe, A. G., Dogramadzi, S., & Pearson, M. (2012). Towards tactile sensing applied to underwater autonomous vehicles for near shore survey and de-mining. Lecture Notes in Artificial Intelligence, 7429 LNAI, 463-464. https://doi.org/10.1007/978-3-642-32527-4_60

Artificial tactile whisker sensors demonstrate an approach to localisation [1] that is robust to harsh environmental disturbances, endowing autonomous systems with the ability to operate effectively in confined, noisy and visually occluded spaces, su... Read More about Towards tactile sensing applied to underwater autonomous vehicles for near shore survey and de-mining.