Object localisation using active whiskers on underwater autonomous walking robot

Rooney, T., Pearson, M., Welsby, J., Horsfield, I., Sewell, R. and Dogramadzi, S. (2011) Object localisation using active whiskers on underwater autonomous walking robot. In: Bidaud, P., Tokhi, M. O., Grande, C. and Virk, G. S., eds. (2011) Field Robotics: Proceedings of the 14th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines. World Scientific Publishing Co., pp. 190-195. ISBN 9789814374279

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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.

Item Type:Book Section
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.
Uncontrolled Keywords:biomimetic, whisker, underwater robots, legged locomotion
ID Code:15995
Deposited By: Dr M. Pearson
Deposited On:21 Nov 2011 14:36
Last Modified:26 Nov 2014 15:50

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