Multifunctional whisker arrays for distance detection, terrain mapping, and object feature extraction

Aimee E. Schultz; Joseph H. Solomon; Michael A. Peshkin; Mitra J. Hartmann

doi:10.1109/ROBOT.2005.1570503

Multifunctional whisker arrays for distance detection, terrain mapping, and object feature extraction

Aimee E. Schultz^*, Joseph H. Solomon, Michael A. Peshkin, Mitra J. Hartmann

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

36 Scopus citations

Abstract

Several species of animals use whiskers to accurately navigate and explore objects in the absence of vision. We have developed inexpensive arrays of artificial whiskers based on strain-gage and Flex Sensor technologies that can be used either in passive ("dragging") mode, or in active ("whisking") mode. In the present work we explore the range of functions that whisker arrays can serve on a rover. We demonstrate that when mounted on a rover, whisker arrays can (1) Detect obstacles and determine obstacle distance (2) Map terrain features (3) Determine ground and surface texture (4) Provide an estimate of rover speed (5) Identify "slip" of the rover wheels, and (6) Perform 3-dimensional extraction of object shape. We discuss the potential use of whisker arrays on planetary rovers and as an investigative tool for exploring the encoding of sensory information in the nervous system of animals.

Original language	English (US)
Title of host publication	Proceedings of the 2005 IEEE International Conference on Robotics and Automation
Pages	2588-2593
Number of pages	6
DOIs	https://doi.org/10.1109/ROBOT.2005.1570503
State	Published - 2005
Event	2005 IEEE International Conference on Robotics and Automation - Barcelona, Spain Duration: Apr 18 2005 → Apr 22 2005

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
Volume	2005
ISSN (Print)	1050-4729

Other

Other	2005 IEEE International Conference on Robotics and Automation
Country/Territory	Spain
City	Barcelona
Period	4/18/05 → 4/22/05

Keywords

Rat
Somatosensory
Tactile
Vibrissa
Whisker

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

Access to Document

10.1109/ROBOT.2005.1570503

Cite this

Schultz, A. E., Solomon, J. H., Peshkin, M. A., & Hartmann, M. J. (2005). Multifunctional whisker arrays for distance detection, terrain mapping, and object feature extraction. In Proceedings of the 2005 IEEE International Conference on Robotics and Automation (pp. 2588-2593). Article 1570503 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2005). https://doi.org/10.1109/ROBOT.2005.1570503

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title = "Multifunctional whisker arrays for distance detection, terrain mapping, and object feature extraction",

abstract = "Several species of animals use whiskers to accurately navigate and explore objects in the absence of vision. We have developed inexpensive arrays of artificial whiskers based on strain-gage and Flex Sensor technologies that can be used either in passive ({"}dragging{"}) mode, or in active ({"}whisking{"}) mode. In the present work we explore the range of functions that whisker arrays can serve on a rover. We demonstrate that when mounted on a rover, whisker arrays can (1) Detect obstacles and determine obstacle distance (2) Map terrain features (3) Determine ground and surface texture (4) Provide an estimate of rover speed (5) Identify {"}slip{"} of the rover wheels, and (6) Perform 3-dimensional extraction of object shape. We discuss the potential use of whisker arrays on planetary rovers and as an investigative tool for exploring the encoding of sensory information in the nervous system of animals.",

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author = "Schultz, {Aimee E.} and Solomon, {Joseph H.} and Peshkin, {Michael A.} and Hartmann, {Mitra J.}",

year = "2005",

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Schultz, AE, Solomon, JH, Peshkin, MA & Hartmann, MJ 2005, Multifunctional whisker arrays for distance detection, terrain mapping, and object feature extraction. in Proceedings of the 2005 IEEE International Conference on Robotics and Automation., 1570503, Proceedings - IEEE International Conference on Robotics and Automation, vol. 2005, pp. 2588-2593, 2005 IEEE International Conference on Robotics and Automation, Barcelona, Spain, 4/18/05. https://doi.org/10.1109/ROBOT.2005.1570503

Multifunctional whisker arrays for distance detection, terrain mapping, and object feature extraction. / Schultz, Aimee E.; Solomon, Joseph H.; Peshkin, Michael A. et al.
Proceedings of the 2005 IEEE International Conference on Robotics and Automation. 2005. p. 2588-2593 1570503 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2005).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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N2 - Several species of animals use whiskers to accurately navigate and explore objects in the absence of vision. We have developed inexpensive arrays of artificial whiskers based on strain-gage and Flex Sensor technologies that can be used either in passive ("dragging") mode, or in active ("whisking") mode. In the present work we explore the range of functions that whisker arrays can serve on a rover. We demonstrate that when mounted on a rover, whisker arrays can (1) Detect obstacles and determine obstacle distance (2) Map terrain features (3) Determine ground and surface texture (4) Provide an estimate of rover speed (5) Identify "slip" of the rover wheels, and (6) Perform 3-dimensional extraction of object shape. We discuss the potential use of whisker arrays on planetary rovers and as an investigative tool for exploring the encoding of sensory information in the nervous system of animals.

AB - Several species of animals use whiskers to accurately navigate and explore objects in the absence of vision. We have developed inexpensive arrays of artificial whiskers based on strain-gage and Flex Sensor technologies that can be used either in passive ("dragging") mode, or in active ("whisking") mode. In the present work we explore the range of functions that whisker arrays can serve on a rover. We demonstrate that when mounted on a rover, whisker arrays can (1) Detect obstacles and determine obstacle distance (2) Map terrain features (3) Determine ground and surface texture (4) Provide an estimate of rover speed (5) Identify "slip" of the rover wheels, and (6) Perform 3-dimensional extraction of object shape. We discuss the potential use of whisker arrays on planetary rovers and as an investigative tool for exploring the encoding of sensory information in the nervous system of animals.

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Schultz AE, Solomon JH, Peshkin MA , Hartmann MJ. Multifunctional whisker arrays for distance detection, terrain mapping, and object feature extraction. In Proceedings of the 2005 IEEE International Conference on Robotics and Automation. 2005. p. 2588-2593. 1570503. (Proceedings - IEEE International Conference on Robotics and Automation). doi: 10.1109/ROBOT.2005.1570503

Multifunctional whisker arrays for distance detection, terrain mapping, and object feature extraction

Abstract

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Keywords

ASJC Scopus subject areas

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