University of Oulu

R. Shukla, P. K. Routray, K. Tiwari, S. M. LaValle and M. Manivannan, "Monofilament whisker-based mobile robot navigation," 2021 IEEE World Haptics Conference (WHC), 2021, pp. 1150-1150, doi: 10.1109/WHC49131.2021.9517235

Monofilament whisker-based mobile robot navigation

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Author: Shukla, Rishabh1; Routray, Prasanna Kumar1; Tiwari, Kshitij2;
Organizations: 1Centre for Virtual Reality and Haptics, Indian Institute of Technology (IIT), Madras, India
2Information Technology and Electrical Engineering, University of Oulu, Finland
Format: article
Version: accepted version
Access: open
Online Access: PDF Full Text (PDF, 0.2 MB)
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Language: English
Published: Institute of Electrical and Electronics Engineers, 2021
Publish Date: 2021-10-22


Rodents and pinnipeds use their tactile sense as the primary modes for localization and foraging. This abstract presents a rodent whisker-inspired tactile sensor for mobile robot navigation fabricated using the Semmes-Weinstein Monofilament (SWMF). The monofilament is lightweight, readily available, and generates reproducible buckling stresses. The sensor deflection characteristic has three distinct regions of operation that help detect buckling. The sensor’s small size, 360° tactile view, and force sensing capability could make it suitable for narrow space navigation.

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ISBN: 978-1-6654-1871-3
ISBN Print: 978-1-6654-4806-2
Pages: 1150 - 1150
DOI: 10.1109/WHC49131.2021.9517235
Host publication: 2021 IEEE World Haptics Conference, WHC 2021, 6-9 July 2021, Montreal, QC, Canada
Conference: IEEE World Haptics Conference
Type of Publication: A4 Article in conference proceedings
Field of Science: 213 Electronic, automation and communications engineering, electronics
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