Visual-tactile sensory map calibration of a biomimetic whiskered robot

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

doi:10.1109/ICRA.2016.7487228

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 or section in a book/report/conference proceeding › Chapter in a published conference proceeding

14 Citations (SciVal)

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	https://doi.org/10.1109/ICRA.2016.7487228
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/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

Access to Document

10.1109/ICRA.2016.7487228

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). Article 7487228 (IEEE International Conference on Robotics and Automation). IEEE. https://doi.org/10.1109/ICRA.2016.7487228

Visual-tactile sensory map calibration of a biomimetic whiskered robot. / Assaf, Tareq; Wilson, Emma D.; Anderson, Sean et al.
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 or section in a book/report/conference proceeding › Chapter in a published conference proceeding

Assaf, T, Wilson, ED, Anderson, S, Dean, P, Porrill, J & Pearson, MJ 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, 7487228, IEEE International Conference on Robotics and Automation, IEEE, pp. 967-972, 2016 IEEE International Conference on Robotics and Automation, ICRA 2016, Stockholm, Sweden, 16/05/16. https://doi.org/10.1109/ICRA.2016.7487228

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Visual-tactile sensory map calibration of a biomimetic whiskered robot

Abstract

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ASJC Scopus subject areas

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