Animal-inspired sensing for autonomously climbing or avoiding obstacles
Lewinger, WA, Harley, CM, Watson, MS, Branicky, MS, Ritzmann, RE and Quinn, RD (2009) Animal-inspired sensing for autonomously climbing or avoiding obstacles Applied Bionics and Biomechanics, 6 (1). pp. 43-61.
Full text not available from this repository.Abstract
The way that natural systems navigate their environments with agility, intelligence and efficiency is an inspiration to engineers. Biological attributes such as modes of locomotion, sensory modalities, behaviours and physical appearance have been used as design goals. While methods of locomotion allow robots to move through their environment, the addition of sensing, perception and decision making are necessary to perform this task with autonomy. This paper contrasts how the addition of two separate sensing modalities - tactile antennae and non-contact sensing - and a low-computation, capable microcontroller allow a biologically abstracted mobile robot to make insect-inspired decisions when encountering a shelflike obstacle, navigating a cluttered environment without collision and seeking vision-based goals while avoiding obstacles.
Item Type: | Article | |||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
Divisions : | Surrey research (other units) | |||||||||||||||||||||
Authors : |
|
|||||||||||||||||||||
Date : | 1 March 2009 | |||||||||||||||||||||
DOI : | 10.1080/11762320802675147 | |||||||||||||||||||||
Depositing User : | Symplectic Elements | |||||||||||||||||||||
Date Deposited : | 17 May 2017 12:28 | |||||||||||||||||||||
Last Modified : | 24 Jan 2020 22:20 | |||||||||||||||||||||
URI: | http://epubs.surrey.ac.uk/id/eprint/835484 |
Actions (login required)
![]() |
View Item |
Downloads
Downloads per month over past year