Object Location and Recognition using Whisker Sensors
نویسنده
چکیده
The project described in this paper has the aim of demonstrating that whisker sensors can be used as a rapid and effective form of robot sensing. Previously a single whisker sensor has been demonstrated mounted on a mobile robot for gathering information about the surface profile of objects close to the robot. This work has now been extended to an array of eight whiskers mounted on a robot that also incorporates a simple gripper. The passive whisker sensors are scanned over external objects by the motion of the robot. By monitoring the resulting deflection of the whiskers sequences of surface points can be recorded. Object recognition algorithms have been developed that allow the robot to recognise, grasp and retrieve a range of objects using the whisker data. In this paper the upgraded robot, WhiskerBOT, is described together with the object recognition and localisation algorithms. Results of practical experiments are also presented.
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