Abstract
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 that incorporates an array of biomimetic tactile whiskers, actuated using electro-active polymer artificial muscles, a camera to provide visual error feedback, and a standard industrial robotic manipulator. The algorithm learns to accommodate imperfections in the sensory map that may be as a result of poor manufacturing tolerances or damage to the sensory array. Such an ability is an important pre-requisite for robust tactile robotic systems operating in the real-world for extended periods of time. In this work the sensory maps have been purposely distorted in order to evaluate the performance of the algorithm.
Original language | English |
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Title of host publication | 2016 IEEE International Conference on Robotics and Automation, ICRA 2016 |
Publisher | IEEE |
Pages | 967-972 |
Number of pages | 6 |
Volume | 2016-June |
ISBN (Electronic) | 9781467380263 |
DOIs | |
Publication status | Published - 9 Jun 2016 |
Event | 2016 IEEE International Conference on Robotics and Automation, ICRA 2016 - Stockholm, Sweden Duration: 16 May 2016 → 21 May 2016 |
Publication series
Name | IEEE International Conference on Robotics and Automation |
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Publisher | IEEE |
ISSN (Print) | 2152-4092 |
ISSN (Electronic) | 2379-9544 |
Conference
Conference | 2016 IEEE International Conference on Robotics and Automation, ICRA 2016 |
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Country/Territory | Sweden |
City | Stockholm |
Period | 16/05/16 → 21/05/16 |
Funding
This work was funded by the EPSRC through grant reference number EP/I032533/1
ASJC Scopus subject areas
- Software
- Control and Systems Engineering
- Artificial Intelligence
- Electrical and Electronic Engineering