Biomimetic whiskers for shape recognition

Kim DE, Möller R (2007)
Robotics and Autonomous Systems 55(3): 229-243.

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Zeitschriftenaufsatz | Englisch
Autor
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Abstract / Bemerkung
Rodents demonstrate an outstanding capability of tactile perception with their whiskers. Mechanoreceptors surrounding the whisker shaft in their follicle structure measure deflection of the whisker. We designed biomimetic whiskers following the basic design of the follicle. In experiments with the artificial whiskers, we have explored tactile perception based on active whisking where the deflection angle or velocity provides the localization information which is the basis of shape recognition. Measuring contact distances at varying protraction angles allows discrimination of round objects with a varying curvature, or objects with different lateral shapes, such as square and round objects. We show the capabilities and limitations of a single whisker for shape recognition as well as the usefulness of multiple whiskers. In addition, measuring both vertical and horizontal deflection of a single whisker allows detection of the vertical shape for objects with a smooth surface. Two or more whiskers stacked vertically can recognize the vertical shape by observing the difference of their deflection amplitudes or the time shift of deflection velocity peak. The results provide a clue on how autonomous robots could improve their sensory capabilities with mechanical probes.
Erscheinungsjahr
Zeitschriftentitel
Robotics and Autonomous Systems
Band
55
Zeitschriftennummer
3
Seite
229-243
ISSN
PUB-ID

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Kim DE, Möller R. Biomimetic whiskers for shape recognition. Robotics and Autonomous Systems. 2007;55(3):229-243.
Kim, D. E., & Möller, R. (2007). Biomimetic whiskers for shape recognition. Robotics and Autonomous Systems, 55(3), 229-243. doi:10.1016/j.robot.2006.08.001
Kim, D. E., and Möller, R. (2007). Biomimetic whiskers for shape recognition. Robotics and Autonomous Systems 55, 229-243.
Kim, D.E., & Möller, R., 2007. Biomimetic whiskers for shape recognition. Robotics and Autonomous Systems, 55(3), p 229-243.
D.E. Kim and R. Möller, “Biomimetic whiskers for shape recognition”, Robotics and Autonomous Systems, vol. 55, 2007, pp. 229-243.
Kim, D.E., Möller, R.: Biomimetic whiskers for shape recognition. Robotics and Autonomous Systems. 55, 229-243 (2007).
Kim, DaeEun, and Möller, Ralf. “Biomimetic whiskers for shape recognition”. Robotics and Autonomous Systems 55.3 (2007): 229-243.