Active Whisker Placement and Exploration For Rapid Object Recognition
- Resource Type
- Conference
- Authors
- Pearson, Martin J.; Salman, Mohammed
- Source
- 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Intelligent Robots and Systems (IROS), 2019 IEEE/RSJ International Conference on. :672-677 Nov, 2019
- Subject
- Aerospace
Bioengineering
Communication, Networking and Broadcast Technologies
Components, Circuits, Devices and Systems
Computing and Processing
Engineered Materials, Dielectrics and Plasmas
Engineering Profession
Fields, Waves and Electromagnetics
General Topics for Engineers
Geoscience
Nuclear Engineering
Photonics and Electrooptics
Power, Energy and Industry Applications
Robotics and Control Systems
Signal Processing and Analysis
Transportation
Tactile
Whiskered robot
object recognition
- Language
- ISSN
- 2153-0866
Identifying objects using sparse tactile sensor arrays requires movement across the surface and the integration of sensory information to support hypotheses. In this study we demonstrate a surface placement control strategy to orient and position a biomimetic tactile whisker array relative to the object surface. This reduces the variance in tactile view, or representation, of each region of the object surface thus relaxing the prior pose dependence for object recall. In addition we evaluate two regional search strategies in an attempt to further improve the robustness and speed of object classification.