Biomimetic tactile target acquisition, tracking and capture

被引：5
|
作者：
Mitchinson, Ben [1 ]
Pearson, Martin J. [2 ]
Pipe, Anthony G. [2 ]
Prescott, Tony J. [1 ]
机构：
[1] Univ Sheffield, ATLAS Res Grp, Sheffield S10 2TN, S Yorkshire, England
[2] Bristol Robot Lab, Bristol, Avon, England
来源：
ROBOTICS AND AUTONOMOUS SYSTEMS | 2014年 / 62卷 / 03期
基金：
英国工程与自然科学研究理事会;
关键词：
Biomimetic; Tactile; Whiskers; Autonomous mobile robotics; SUPERIOR COLLICULUS; DECISION-MAKING; RADIAL DISTANCE; RAT; ROBOT; VIBRISSAE; WHISKERS; WHISKING; CONTACT;
D O I：
10.1016/j.robot.2013.08.013
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Good performance in unstructured/uncertain environments is an ongoing problem in robotics; in biology, it is an everyday observation. Here, we model a particular biological system hunting in the Etruscan shrew as a case study in biomimetic robot design. These shrews strike rapidly and accurately after gathering very limited sensory information from their whiskers; we attempt to mimic this performance by using model-based simultaneous discrimination and localisation of a 'prey' robot (i.e. by using strong priors to make sense of limited sensory data), building on our existing low-level models of attention and appetitive behaviour in small mammals. We report performance that is comparable, given the spatial and temporal scale differences, to shrew performance, and discuss what this study reveals about biomimetic robot design in general. (C) 2013 Elsevier B.V. All rights reserved.
引用
收藏
页码：366 / 375
页数：10
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