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Contact type dependency of texture classification in a whiskered mobile robot

Fox, C.W., Mitchinson, B., Pearson, M.J., Pipe, A.G. and Prescott, T.J. (2009) Contact type dependency of texture classification in a whiskered mobile robot. Autonomous Robots, 26 (4). pp. 223-239. ISSN 0929-5593

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Abstract

Actuated artificial whiskers modeled on rat macrovibrissae can provide effective tactile sensor systems for autonomous robots. This article focuses on texture classification using artificial whiskers and addresses a limitation of previous studies, namely, their use of whisker deflection signals obtained under relatively constrained experimental conditions. Here we consider the classification of signals obtained from a whiskered robot required to explore different surface textures from a range of orientations and distances. This procedure resulted in a variety of deflection signals for any given texture. Using a standard Gaussian classifier we show, using both hand-picked features and ones derived from studies of rat vibrissal processing, that a robust rough-smooth discrimination is achievable without any knowledge of how the whisker interacts with the investigated object. On the other hand, finer discriminations appear to require knowledge of the target's relative position and/or of the manner in which the whisker contact its surface.

Item Type: Article
Copyright, Publisher and Additional Information: © 2009 Springer. This is an author produced version of a paper subsequently published in Autonomous Robots. Uploaded in accordance with the publisher's self-archiving policy.
Keywords: Whiskers; Vibrissae; Tactile sensing; Texture discrimination
Institution: The University of Sheffield
Academic Units: The University of Sheffield > Faculty of Science (Sheffield) > Department of Psychology (Sheffield)
Depositing User: Miss Anthea Tucker
Date Deposited: 19 Jun 2009 11:09
Last Modified: 08 Feb 2013 16:58
Published Version: http://dx.doi.org/10.1007/s10514-009-9109-z
Status: Published
Publisher: Springer Verlag
Refereed: Yes
Identification Number: 10.1007/s10514-009-9109-z
URI: http://eprints.whiterose.ac.uk/id/eprint/8639

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