@inproceedings{a33d3b2fc9514b7ba7e25970a0e50a73,
title = "Visual-tactile sensory map calibration of a biomimetic whiskered robot",
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.",
author = "Tareq Assaf and Wilson, {Emma D.} and Sean Anderson and Paul Dean and John Porrill and Pearson, {Martin J.}",
year = "2016",
month = jun,
day = "9",
doi = "10.1109/ICRA.2016.7487228",
language = "English",
volume = "2016-June",
series = "IEEE International Conference on Robotics and Automation",
publisher = "IEEE",
pages = "967--972",
booktitle = "2016 IEEE International Conference on Robotics and Automation, ICRA 2016",
address = "USA United States",
note = "2016 IEEE International Conference on Robotics and Automation, ICRA 2016 ; Conference date: 16-05-2016 Through 21-05-2016",
}