Visual-tactile sensory map calibration of a biomimetic whiskered robot

Tareq Assaf, Emma D. Wilson, Sean Anderson, Paul Dean, John Porrill, Martin J. Pearson

Research output: Chapter in Book/Report/Conference proceedingConference contribution

9 Citations (Scopus)

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 languageEnglish
Title of host publication2016 IEEE International Conference on Robotics and Automation, ICRA 2016
PublisherIEEE
Pages967-972
Number of pages6
Volume2016-June
ISBN (Electronic)9781467380263
DOIs
Publication statusPublished - 9 Jun 2016
Event2016 IEEE International Conference on Robotics and Automation, ICRA 2016 - Stockholm, Sweden
Duration: 16 May 201621 May 2016

Publication series

NameIEEE International Conference on Robotics and Automation
PublisherIEEE
ISSN (Print)2152-4092
ISSN (Electronic)2379-9544

Conference

Conference2016 IEEE International Conference on Robotics and Automation, ICRA 2016
CountrySweden
CityStockholm
Period16/05/1621/05/16

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Cite this

Assaf, T., Wilson, E. D., Anderson, S., Dean, P., Porrill, J., & Pearson, M. J. (2016). Visual-tactile sensory map calibration of a biomimetic whiskered robot. In 2016 IEEE International Conference on Robotics and Automation, ICRA 2016 (Vol. 2016-June, pp. 967-972). [7487228] (IEEE International Conference on Robotics and Automation). IEEE. https://doi.org/10.1109/ICRA.2016.7487228