Biomimetic tactile target acquisition, tracking and capture

Mitchinson, B., Pearson, M., Pipe, A. G. and Prescott, T. (2014) Biomimetic tactile target acquisition, tracking and capture. Robotics and Autonomous Systems, 62 (3). pp. 366-375. ISSN 0921-8890 Available from: http://eprints.uwe.ac.uk/28066

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Publisher's URL: http://dx.doi.org/10.1016/j.robot.2013.08.013

Abstract/Description

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 design. These shrews strike rapidly and accurately after gathering very limited sensory information from their whiskers; we attempt to mimic this performance by using model-based simultaneous discrimination and localisation of a ‘prey’ robot (i.e. by using strong priors to make sense of limited sensory data), building on our existing low-level models of attention and appetitive behaviour in small mammals. We report performance that is comparable, given the spatial and temporal scale differences, to shrew performance, and discuss what this study reveals about biomimetic robot design in general.

Item Type:Article
Uncontrolled Keywords:biomimetic, tactile, whiskers, autonomous mobile robotics
Faculty/Department:Faculty of Environment and Technology > Department of Engineering Design and Mathematics
ID Code:28066
Deposited By: Dr M. Pearson
Deposited On:28 Jan 2016 12:58
Last Modified:03 Apr 2017 15:37

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