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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.

Towards hierarchical blackboard mapping on a whiskered robot (2012)
Journal Article
Prescott, T. J., Pearson, M. J., Evans, M. H., Fox, C. W., Fox, C. W., Evans, M., …Prescott, T. J. (2012). Towards hierarchical blackboard mapping on a whiskered robot. Robotics and Autonomous Systems, 60(11), 1356-1366. https://doi.org/10.1016/j.robot.2012.03.005

The paradigm case for robotic mapping assumes large quantities of sensory information which allow the use of relatively weak priors. In contrast, the present study considers the mapping problem for a mobile robot, CrunchBot, where only sparse, local... Read More about Towards hierarchical blackboard mapping on a whiskered robot.

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.

An Internal Model Architecture for Novelty Detection: Implications for Cerebellar and Collicular Roles in Sensory Processing (2012)
Journal Article
Pearson, M. J., Anderson, S. R., Anderson, S., Porrill, J., Pearson, M., Pipe, A. G., …Dean, P. (2012). An Internal Model Architecture for Novelty Detection: Implications for Cerebellar and Collicular Roles in Sensory Processing. PLoS ONE, 7(9), https://doi.org/10.1371/journal.pone.0044560

The cerebellum is thought to implement internal models for sensory prediction, but details of the underlying circuitry are currently obscure. We therefore investigated a specific example of internal-model based sensory prediction, namely detection of... Read More about An Internal Model Architecture for Novelty Detection: Implications for Cerebellar and Collicular Roles in Sensory Processing.

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.

Predictive prey pursuit in a whiskered robot (2012)
Presentation / Conference
Mitchinson, B., Pearson, M., Pipe, A. G., & Prescott, T. J. (2012, August). Predictive prey pursuit in a whiskered robot. Paper presented at FIRA-TAROS congress

Highly active small mammals need to capture prey rapidly and with a high success rate if they are to survive. We consider the case of the Etruscan shrew, which hunts prey including crickets almost as large as itself, and relies on its whiskers (vibri... Read More about Predictive prey pursuit in a whiskered robot.

The emergence of action sequences from spatial attention: Insight from rodent-like robots (2012)
Presentation / Conference
attention: Insight from rodent-like robots. Paper presented at Living Machines 2012

Animal behaviour is rich, varied, and smoothly integrated. One plausible model of its generation is that behavioural sub-systems compete to command effectors. In small terrestrial mammals, many behaviours are underpinned by foveation, since important... Read More about The emergence of action sequences from spatial attention: Insight from rodent-like robots.

Brain-inspired Bayesian perception for biomimetic robot touch (2012)
Presentation / Conference
Lepora, N., Sullivan, C., Mitchinson, B., Pearson, M., Gurney, K., & Prescott, T. J. (2012, May). Brain-inspired Bayesian perception for biomimetic robot touch. Paper presented at IEEE International Conference on Robotics and Automation

Studies of decision making in animals suggest a neural mechanism of evidence accumulation for competing percepts according to Bayesian sequential analysis. This model of perception is embodied in a biomimetic tactile sensing robot based on the ro... Read More about Brain-inspired Bayesian perception for biomimetic robot touch.

Tactile SLAM with a biomimetic whiskered robot (2012)
Presentation / Conference
Fox, C. W., Evans, M., Pearson, M., & Prescott, T. J. (2012, May). Tactile SLAM with a biomimetic whiskered robot. Paper presented at IEEE International Conference on Robotics and Automation

Tomorrow’s robots may need to navigate in sit- uations where visual sensors fail. Touch sensors provide an alternative modality which has not previously been explored in the context of robotic map building. We present the first results in grid ba... Read More about Tactile SLAM with a biomimetic whiskered robot.

Bioinspired control of electro-active polymers for next generation soft robots (2012)
Book Chapter
Wilson, E., Anderson, S. R., Assaf, T., Pearson, M., Walters, P., Melhuish, C., …Porrill, J. (2012). Bioinspired control of electro-active polymers for next generation soft robots. In G. Herrmann, M. Studley, M. Pearson, A. Conn, C. Melhuish, M. Witkowski, …J. H. Kim (Eds.), Advances in Autonomous Robotics: Joint Proceedings of the 13th Annual TAROS Conference and the 15th Annual FIRA RoboWorld Congress, Bristol, UK, August 20-23, 2012, Proceedings, 424-425. Springer

Paper given at TAROS Towards Autonomous Robotic Systems Conference, Bristol, UK 20-25 August 2012.

Towards tactile sensing applied to underwater autonomous vehicles for near shore survey and de-mining (2012)
Journal Article
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, 463-464. https://doi.org/10.1007/978-3-642-32527-4_60

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

Tactile discrimination using active whisker sensors (2012)
Journal Article
Fox, C. W., Lepora, N. F., Pearson, M. J., Sullivan, J. C., Sullian, J., Mitchinson, B., …Prescott, T. J. (2012). Tactile discrimination using active whisker sensors. IEEE Sensors Journal, 12(2), 350-362. https://doi.org/10.1109/JSEN.2011.2148114

We describe a novel, biomimetic tactile sensing system modeled on the facial whiskers (vibrissae) of animals such as rats and mice. The "BIOTACT Sensor" consists of a conical array of modular, actuated hair-like elements, each instrumented at the bas... Read More about Tactile discrimination using active whisker sensors.

Artificial active whiskers for guiding underwater autonomous walking robots (2011)
Presentation / Conference
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

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 o... Read More about Artificial active whiskers for guiding underwater autonomous walking robots.

Object localisation using active whiskers on underwater autonomous walking robot (2011)
Book Chapter
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

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 o... Read More about Object localisation using active whiskers on underwater autonomous walking robot.

Biomimetic vibrissal sensing for robots (2011)
Journal Article
Charles Sullivan, J., Pearson, M. J., Pearson, M., Mitchinson, B., Sullivan, J. C., Pipe, A. G., & Prescott, T. J. (2011). Biomimetic vibrissal sensing for robots. Philosophical Transactions B: Biological Sciences, 366(1581), 3085-3096. https://doi.org/10.1098/rstb.2011.0164

Active vibrissal touch can be used to replace or to supplement sensory systems such as computer vision and, therefore, improve the sensory capacity of mobile robots. This paper describes how arrays of whisker-like touch sensors have been incorporated... Read More about Biomimetic vibrissal sensing for robots.

Adaptive cancelation of self-generated sensory signals in a whisking robot (2010)
Journal Article
Prescott, T., Pearson, M. J., Anderson, S. R., Anderson, S., Pearson, M., Pipe, A., …Porrill, J. (2010). Adaptive cancelation of self-generated sensory signals in a whisking robot. IEEE Transactions on Robotics, 26(6), 1065-1076. https://doi.org/10.1109/TRO.2010.2069990

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 system... Read More about Adaptive cancelation of self-generated sensory signals in a whisking robot.

BRAHMS: Novel middleware for integrated systems computation (2010)
Journal Article
Mitchinson, B., Chan, T. S., Chambers, J., Pearson, M., Humphries, M., Fox, C., …Prescott, T. J. (2010). BRAHMS: Novel middleware for integrated systems computation. Advanced Engineering Informatics, 24(1), 49-61. https://doi.org/10.1016/j.aei.2009.08.002

Biological computational modellers are becoming increasingly interested in building large, eclectic models, including components on many different computational substrates, both biological and non-biological. At the same time, the rise of the philoso... Read More about BRAHMS: Novel middleware for integrated systems computation.

Whisking with robots: From rat vibrissae to biomimetic technology for active touch (2009)
Journal Article
Pearson, M. J., Prescott, T. J., Pearson, M., Mitchinson, B., Sullivan, J. C. W., & Pipe, A. G. (2009). Whisking with robots: From rat vibrissae to biomimetic technology for active touch. IEEE Robotics and Automation Magazine, 16(3), 42-50. https://doi.org/10.1109/MRA.2009.933624

This article summarizes some of the key features of the rat vibrissal system, including the actively controlled sweeping movements of the vibrissae known as whisking, and reviews the past and ongoing research aimed at replicating some of this functio... Read More about Whisking with robots: From rat vibrissae to biomimetic technology for active touch.