Abstract
CrunchBot is a robot platform for developing models of tactile perception and navigation. We present the architecture of CrunchBot, and show why tactile navigation is difficult. We give novel real-time performance results from components of a tactile navigation system and a description of how they may be integrated at a systems level. Components include floor surface classification, radial distance estimation and navigation. We show how tactile-only navigation differs fundamentally from navigation tasks using vision or laser sensors, in that the assumptions about the data preclude standard algorithms (such as extended Kalman Filters) and require brute-force methods.
This work was supported by EU Framework project FP7-BIOTACT (ICT-215910).
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Fox, C.W., Evans, M.H., Lepora, N.F., Pearson, M., Ham, A., Prescott, T.J. (2011). CrunchBot: A Mobile Whiskered Robot Platform. In: Groß, R., Alboul, L., Melhuish, C., Witkowski, M., Prescott, T.J., Penders, J. (eds) Towards Autonomous Robotic Systems. TAROS 2011. Lecture Notes in Computer Science(), vol 6856. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-23232-9_10
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DOI: https://doi.org/10.1007/978-3-642-23232-9_10
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