A Highly Compliant Passive Antenna for Touch- Mediated Maneuvering of a Biologically Inspired Hexapedal Robot
نویسنده
چکیده
13 A highly compliant, sensor-lined antenna probe can provide mobile robots with tactile information about immediate surroundings for exploration and localization. Analogous in structure and function to insect antennae, this type of antenna probe can be especially useful for feedback to highly dynamic and complex platforms such as fast running legged robots, providing direct information about the geometry of the environment in a robust manner despite the rapidly changing state of the system. Inspired by the effectiveness of cockroach antennae for feedback during rapid legged locomotion, we have designed and calibrated a passive artificial sensor-lined antenna to provide feedback control in a biologically-inspired, hexapedal running robot. We then suggest the process for designing a simple wall-following controller, based on the sensor calibration and the robot’s running and turning dynamics, and present preliminary results.
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