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Adaptive cancelation of self-generated sensory signals in a whisking robot

Anderson, S.R., Pearson, M.J., Pipe, A., Prescott, T., Dean, P. and Porrill, J. (2010) Adaptive cancelation of self-generated sensory signals in a whisking robot. IEEE Transactions on Robotics , 26 (6). pp. 1065-1076. ISSN 1552-3098


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Sensory signals are often caused by one's own active movements. This raises a problem of discriminating between self-generated sensory signals and signals generated by the external world. Such discrimination is of general importance for robotic systems, where operational robustness is dependent on the correct interpretation of sensory signals. Here, we investigate this problem in the context of a whiskered robot. The whisker sensory signal comprises two components: one due to contact with an object (externally generated) and another due to active movement of the whisker (self-generated). We propose a solution to this discrimination problem based on adaptive noise cancelation, where the robot learns to predict the sensory consequences of its own movements using an adaptive filter. The filter inputs (copy of motor commands) are transformed by Laguerre functions instead of the often-used tapped-delay line, which reduces model order and, therefore, computational complexity. Results from a contact-detection task demonstrate that false positives are significantly reduced using the proposed scheme.

Item Type: Article
Copyright, Publisher and Additional Information: © Copyright 2010 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
Keywords: Force and tactile sensing; internal model; learning and adaptive systems; neurorobotics; noise cancelation
Institution: The University of Sheffield
Academic Units: The University of Sheffield > Faculty of Science (Sheffield) > Department of Psychology (Sheffield)
The University of Sheffield > Faculty of Engineering (Sheffield) > Department of Automatic Control and Systems Engineering (Sheffield)
Depositing User: Miss Anthea Tucker
Date Deposited: 17 Jan 2011 09:35
Last Modified: 10 Jun 2014 09:46
Published Version: http://dx.doi.org/10.1109/TRO.2010.2069990
Status: Published
Publisher: Institute of Electrical and Electronics Engineers
Refereed: Yes
Identification Number: 10.1109/TRO.2010.2069990
URI: http://eprints.whiterose.ac.uk/id/eprint/42773

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