Monofilament whisker-based mobile robot navigation
Shukla, Rishabh; Routray, Prasanna Kumar; Tiwari, Kshitij; LaValle, Steven M.; Manivannan, M. (2021-08-23)
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
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https://urn.fi/URN:NBN:fi-fe2021102252004
Tiivistelmä
Abstract
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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