Predictions of self-induced mechanoreceptive sensor readings in an insect-inspired active tactile sensing system

Harischandra N, Dürr V (2013)
In: Proceedings of the International Symposium on Adaptive Motion of Animals and Machines AMAM2013. 59-62.

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Konferenzbeitrag | Veröffentlicht | Englisch
Abstract / Bemerkung
In this study, we expand our work on Echo State Network (ESN) based forward models for predicting the expected sensor reading of an insect- inspired active tactile sensor system on a mobile robot. Inputs to the forward model are the motor commands which set the positions of both antennae, and a local proprioceptive signal which measures the vibra tions of the robot platform. The model was successfully used to detect tactile events on each antenna while the robot, is either moved on a straight or curved path with bumps on the floor, or moved with spiked wheels. The latter scenario was chosen to estimate the performance of an active tactile system mounted to a walking robot with rhythmic impacts caused by the legs touching down. By simulated lesion experiments, we found that the local proprioceptive signal plays a major role in discriminating disturbances from tactile events in the proposed forward model. We conclude that such an ESN-based forward model is suitable for prediction and elimination of self-induced stimulation of sensors, in particular of mechanosensors.
Erscheinungsjahr
Titel des Konferenzbandes
Proceedings of the International Symposium on Adaptive Motion of Animals and Machines AMAM2013
Seite
59-62
Konferenz
International Symposium on Adaptive Motion of Animals and Machines (2013)
Konferenzort
Darmstadt, Germany
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Harischandra N, Dürr V. Predictions of self-induced mechanoreceptive sensor readings in an insect-inspired active tactile sensing system. In: Proceedings of the International Symposium on Adaptive Motion of Animals and Machines AMAM2013. 2013: 59-62.
Harischandra, N., & Dürr, V. (2013). Predictions of self-induced mechanoreceptive sensor readings in an insect-inspired active tactile sensing system. Proceedings of the International Symposium on Adaptive Motion of Animals and Machines AMAM2013, 59-62
Harischandra, N., and Dürr, V. (2013). “Predictions of self-induced mechanoreceptive sensor readings in an insect-inspired active tactile sensing system” in Proceedings of the International Symposium on Adaptive Motion of Animals and Machines AMAM2013 59-62.
Harischandra, N., & Dürr, V., 2013. Predictions of self-induced mechanoreceptive sensor readings in an insect-inspired active tactile sensing system. In Proceedings of the International Symposium on Adaptive Motion of Animals and Machines AMAM2013. pp. 59-62.
N. Harischandra and V. Dürr, “Predictions of self-induced mechanoreceptive sensor readings in an insect-inspired active tactile sensing system”, Proceedings of the International Symposium on Adaptive Motion of Animals and Machines AMAM2013, 2013, pp.59-62.
Harischandra, N., Dürr, V.: Predictions of self-induced mechanoreceptive sensor readings in an insect-inspired active tactile sensing system. Proceedings of the International Symposium on Adaptive Motion of Animals and Machines AMAM2013. p. 59-62. (2013).
Harischandra, Nalin, and Dürr, Volker. “Predictions of self-induced mechanoreceptive sensor readings in an insect-inspired active tactile sensing system”. Proceedings of the International Symposium on Adaptive Motion of Animals and Machines AMAM2013. 2013. 59-62.

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