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Visual-tactile sensory map calibration of a biomimetic whiskered robot

Research output: Contribution in Book/Report/Proceedings - With ISBN/ISSN › Conference contribution/Paper › peer-review

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Visual-tactile sensory map calibration of a biomimetic whiskered robot. / Assaf, Tareq; Wilson, Emma Denise; Anderson, Sean R et al.
2016 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2016. p. 967-972.

Research output: Contribution in Book/Report/Proceedings - With ISBN/ISSN › Conference contribution/Paper › peer-review

Harvard

Assaf, T, Wilson, ED, Anderson, SR, 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). IEEE, pp. 967-972. https://doi.org/10.1109/ICRA.2016.7487228

APA

Assaf, T., Wilson, E. D., Anderson, S. R., 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) (pp. 967-972). IEEE. https://doi.org/10.1109/ICRA.2016.7487228

Vancouver

Assaf T, Wilson ED, Anderson SR, Dean P, Porrill J, Pearson MJ. Visual-tactile sensory map calibration of a biomimetic whiskered robot. In 2016 IEEE International Conference on Robotics and Automation (ICRA). IEEE. 2016. p. 967-972 doi: 10.1109/ICRA.2016.7487228

Author

Assaf, Tareq ; Wilson, Emma Denise ; Anderson, Sean R et al. / Visual-tactile sensory map calibration of a biomimetic whiskered robot. 2016 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2016. pp. 967-972

Bibtex

@inproceedings{8e8e66f68b2844b395d74ed3c5b2808b,
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 Denise} and Anderson, {Sean R} and Paul Dean and John Porrill and Pearson, {Martin J}",
year = "2016",
month = may,
day = "16",
doi = "10.1109/ICRA.2016.7487228",
language = "English",
pages = "967--972",
booktitle = "2016 IEEE International Conference on Robotics and Automation (ICRA)",
publisher = "IEEE",

}

RIS

TY - GEN

T1 - Visual-tactile sensory map calibration of a biomimetic whiskered robot

AU - Assaf, Tareq

AU - Wilson, Emma Denise

AU - Anderson, Sean R

AU - Dean, Paul

AU - Porrill , John

AU - Pearson, Martin J

PY - 2016/5/16

Y1 - 2016/5/16

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.

U2 - 10.1109/ICRA.2016.7487228

DO - 10.1109/ICRA.2016.7487228

M3 - Conference contribution/Paper

SP - 967

EP - 972

BT - 2016 IEEE International Conference on Robotics and Automation (ICRA)

PB - IEEE

ER -