Artificial active whiskers for guiding underwater autonomous walking robots

Rooney, T., Pearson, M., Welsby, J., Horsfield, I., Sewell, R. and Dogramadzi, S. (2011) Artificial active whiskers for guiding underwater autonomous walking robots. In: CLAWAR 2011, Paris, France, 6th-8th September 2011. Available from:


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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:Conference or Workshop Item (Paper)
Uncontrolled Keywords:artificial active whiskers, underwater autonomous walking robots
Faculty/Department:Faculty of Environment and Technology > Department of Engineering Design and Mathematics
ID Code:16101
Deposited By: Professor S. Dogramadzi
Deposited On:06 Dec 2011 09:49
Last Modified:28 Jul 2017 14:25

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