Insect-inspired tactile contour sampling using vibration-based robotic antennae

Hoinville T, Harischandra N, Krause AF, Dürr V (2014)
In: Living Machines 2014. Duff A (Ed); Lecture Notes in Artificial Intelligence, LINAI 8608. 118-129.

Conference Paper | Published | English

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Editor
Duff, A.
Abstract
Compared to vision, active tactile sensing enables animals and robots to perform unambiguous object localization, segmentationand shape recognition. Recently, we proposed a bio-inspired, CPG-based, active antennal control model, so-called Contour-net, which captures essential characteristics of antennal behavior in climbing stick insects. In simulation, this model provides a robust and eective way to trace contours and classify various 3D shapes. Here, we propose a physical robotic implementation of Contour-net using vibration-based active antennae. We show that combining tactile contour tracing with vibration-based distance estimation yields fairly accurate localization of contact events in 3D space.
Publishing Year
Conference
Living Machines 2014
Location
Milan, Italy
Conference Date
2014-07-30 – 2014-08-01
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Hoinville T, Harischandra N, Krause AF, Dürr V. Insect-inspired tactile contour sampling using vibration-based robotic antennae. In: Duff A, ed. Living Machines 2014. Lecture Notes in Artificial Intelligence. Vol LINAI 8608. 2014: 118-129.
Hoinville, T., Harischandra, N., Krause, A. F., & Dürr, V. (2014). Insect-inspired tactile contour sampling using vibration-based robotic antennae. In A. Duff (Ed.), Lecture Notes in Artificial Intelligence: Vol. LINAI 8608. Living Machines 2014 (pp. 118-129).
Hoinville, T., Harischandra, N., Krause, A. F., and Dürr, V. (2014). “Insect-inspired tactile contour sampling using vibration-based robotic antennae” in Living Machines 2014, ed. A. Duff Lecture Notes in Artificial Intelligence, vol. LINAI 8608, 118-129.
Hoinville, T., et al., 2014. Insect-inspired tactile contour sampling using vibration-based robotic antennae. In A. Duff, ed. Living Machines 2014. Lecture Notes in Artificial Intelligence. no.LINAI 8608 pp. 118-129.
T. Hoinville, et al., “Insect-inspired tactile contour sampling using vibration-based robotic antennae”, Living Machines 2014, A. Duff, ed., Lecture Notes in Artificial Intelligence, vol. LINAI 8608, 2014, pp.118-129.
Hoinville, T., Harischandra, N., Krause, A.F., Dürr, V.: Insect-inspired tactile contour sampling using vibration-based robotic antennae. In: Duff, A. (ed.) Living Machines 2014. Lecture Notes in Artificial Intelligence. LINAI 8608, p. 118-129. (2014).
Hoinville, Thierry, Harischandra, Nalin, Krause, André Frank, and Dürr, Volker. “Insect-inspired tactile contour sampling using vibration-based robotic antennae”. Living Machines 2014. Ed. A. Duff. 2014.Vol. LINAI 8608. Lecture Notes in Artificial Intelligence. 118-129.
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