Assaf, T., Wilson, E.D., Anderson, S. et al. (3 more authors) (2016) Visual-tactile sensory map calibration of a biomimetic whiskered robot. In: Proceedings - IEEE International Conference on Robotics and Automation. 2016 IEEE International Conference on Robotics and Automation (ICRA), May 16th - 21st 2016, Stockholm, Sweden. IEEE , pp. 967-972. ISBN 9781467380263
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.
Metadata
Item Type: | Proceedings Paper |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2016 IEEE. This is an author produced version of a paper subsequently published in Robotics and Automation (ICRA), 2016 IEEE International Conference on. Uploaded in accordance with the publisher's self-archiving policy. |
Dates: |
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Institution: | The University of Sheffield |
Academic Units: | The University of Sheffield > Faculty of Engineering (Sheffield) > Department of Automatic Control and Systems Engineering (Sheffield) The University of Sheffield > Faculty of Science (Sheffield) > Department of Psychology (Sheffield) |
Depositing User: | Symplectic Sheffield |
Date Deposited: | 21 Nov 2016 16:43 |
Last Modified: | 21 Mar 2018 14:58 |
Published Version: | https://doi.org/10.1109/ICRA.2016.7487228 |
Status: | Published |
Publisher: | IEEE |
Refereed: | Yes |
Identification Number: | 10.1109/ICRA.2016.7487228 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:107652 |