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 |
|---|---|
| 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 |
|---|---|
| Publisher | IEEE |
| ISSN (Print) | 2152-4092 |
| ISSN (Electronic) | 2379-9544 |
Conference
| Conference | 2016 IEEE International Conference on Robotics and Automation, ICRA 2016 |
|---|---|
| Country | Sweden |
| City | Stockholm |
| Period | 16/05/16 → 21/05/16 |
ASJC Scopus subject areas
- Software
- Control and Systems Engineering
- Artificial Intelligence
- Electrical and Electronic Engineering
Cite this
Visual-tactile sensory map calibration of a biomimetic whiskered robot. / Assaf, Tareq; Wilson, Emma D.; Anderson, Sean; Dean, Paul; Porrill, John; Pearson, Martin J.
2016 IEEE International Conference on Robotics and Automation, ICRA 2016. Vol. 2016-June IEEE, 2016. p. 967-972 7487228 (IEEE International Conference on Robotics and Automation).Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Visual-tactile sensory map calibration of a biomimetic whiskered robot
AU - Assaf, Tareq
AU - Wilson, Emma D.
AU - Anderson, Sean
AU - Dean, Paul
AU - Porrill, John
AU - Pearson, Martin J.
PY - 2016/6/9
Y1 - 2016/6/9
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84977569059&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2016.7487228
DO - 10.1109/ICRA.2016.7487228
M3 - Conference contribution
VL - 2016-June
T3 - IEEE International Conference on Robotics and Automation
SP - 967
EP - 972
BT - 2016 IEEE International Conference on Robotics and Automation, ICRA 2016
PB - IEEE
ER -