The stick insect antenna as a biological paragon for an actively moved tactile probe for obstacle detection
Dürr V, Krause AF (2001)
In: Climbing and Walking Robots - From Biology to Industrial Applications.Proc. 4th Int.Conf. Climbing and Walking Robots (CLAWAR 2001, Karlsruhe). Berns K, Dillmann R (Eds); Professional Engineering Publishing: 87-96.
Konferenzbeitrag
| Veröffentlicht | Englisch
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Autor*in
Herausgeber*in
Berns, Karsten;
Dillmann, Rüdiger
Einrichtung
Abstract / Bemerkung
We propose the stick insect antenna as a biological model for the study of the tactile sense and its active use in guiding leg movements. During walking, stick insects perform rhythmic antennal movements which are well-coordinated with leg movements. Antennal contact with an obstacle can lead to rapid adaptation of the ongoing leg movement, e.g. by re-targeting of a swing movement. The typical antennal movement pattern is sufficient to reliably detect obstacles of critical height, i.e. where leg reflexes alone will not suffice to overcome the obstacle. The technical application of insect-like actively moved tactile probes on a legged robot may provide a simple, fast and reliable means of object detection within the working range of the front legs.
Stichworte
robot;
Engineering;
Antenna;
climbing;
rhythmic;
retargeting;
REFLEXES;
leg;
legs;
Front Leg;
Object detection;
antennal movement;
Reflex;
Adaptation;
Walking;
Stick Insect;
tactile;
insect;
obstacle detection;
Swing movement;
movement;
Antennal movements;
model;
Leg movement;
Tactile sense;
MOVEMENTS
Erscheinungsjahr
2001
Titel des Konferenzbandes
Climbing and Walking Robots - From Biology to Industrial Applications.Proc. 4th Int.Conf. Climbing and Walking Robots (CLAWAR 2001, Karlsruhe)
Seite(n)
87-96
Konferenz
4. International Conference on Climbing and Walking Robots
Konferenzort
Karlsruhe
Konferenzdatum
2001-09-24 – 2001-09-26
ISBN
1-86058-365-2
Page URI
https://pub.uni-bielefeld.de/record/1681344
Zitieren
Dürr V, Krause AF. The stick insect antenna as a biological paragon for an actively moved tactile probe for obstacle detection. In: Berns K, Dillmann R, eds. Climbing and Walking Robots - From Biology to Industrial Applications.Proc. 4th Int.Conf. Climbing and Walking Robots (CLAWAR 2001, Karlsruhe). Professional Engineering Publishing; 2001: 87-96.
Dürr, V., & Krause, A. F. (2001). The stick insect antenna as a biological paragon for an actively moved tactile probe for obstacle detection. In K. Berns & R. Dillmann (Eds.), Climbing and Walking Robots - From Biology to Industrial Applications.Proc. 4th Int.Conf. Climbing and Walking Robots (CLAWAR 2001, Karlsruhe) (pp. 87-96). Professional Engineering Publishing.
Dürr, Volker, and Krause, André Frank. 2001. “The stick insect antenna as a biological paragon for an actively moved tactile probe for obstacle detection”. In Climbing and Walking Robots - From Biology to Industrial Applications.Proc. 4th Int.Conf. Climbing and Walking Robots (CLAWAR 2001, Karlsruhe), ed. Karsten Berns and Rüdiger Dillmann, 87-96. Professional Engineering Publishing.
Dürr, V., and Krause, A. F. (2001). “The stick insect antenna as a biological paragon for an actively moved tactile probe for obstacle detection” in Climbing and Walking Robots - From Biology to Industrial Applications.Proc. 4th Int.Conf. Climbing and Walking Robots (CLAWAR 2001, Karlsruhe), Berns, K., and Dillmann, R. eds. (Professional Engineering Publishing), 87-96.
Dürr, V., & Krause, A.F., 2001. The stick insect antenna as a biological paragon for an actively moved tactile probe for obstacle detection. In K. Berns & R. Dillmann, eds. Climbing and Walking Robots - From Biology to Industrial Applications.Proc. 4th Int.Conf. Climbing and Walking Robots (CLAWAR 2001, Karlsruhe). Professional Engineering Publishing, pp. 87-96.
V. Dürr and A.F. Krause, “The stick insect antenna as a biological paragon for an actively moved tactile probe for obstacle detection”, Climbing and Walking Robots - From Biology to Industrial Applications.Proc. 4th Int.Conf. Climbing and Walking Robots (CLAWAR 2001, Karlsruhe), K. Berns and R. Dillmann, eds., Professional Engineering Publishing, 2001, pp.87-96.
Dürr, V., Krause, A.F.: The stick insect antenna as a biological paragon for an actively moved tactile probe for obstacle detection. In: Berns, K. and Dillmann, R. (eds.) Climbing and Walking Robots - From Biology to Industrial Applications.Proc. 4th Int.Conf. Climbing and Walking Robots (CLAWAR 2001, Karlsruhe). p. 87-96. Professional Engineering Publishing (2001).
Dürr, Volker, and Krause, André Frank. “The stick insect antenna as a biological paragon for an actively moved tactile probe for obstacle detection”. Climbing and Walking Robots - From Biology to Industrial Applications.Proc. 4th Int.Conf. Climbing and Walking Robots (CLAWAR 2001, Karlsruhe). Ed. Karsten Berns and Rüdiger Dillmann. Professional Engineering Publishing, 2001. 87-96.
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