TY - JOUR
T1 - Animal-inspired sensing for autonomously climbing or avoiding obstacles
AU - Lewinger, William A.
AU - Harley, Cynthia M.
AU - Watson, Michael S.
AU - Branicky, Michael S.
AU - Ritzmann, Roy E.
AU - Quinn, Roger D.
PY - 2009/3
Y1 - 2009/3
N2 - 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.
AB - 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.
KW - Antennae
KW - Autonomous navigation
KW - Biologically inspired
KW - Cockroach
KW - Microcontroller
KW - Mobile robotics
KW - Whegs
UR - http://www.scopus.com/inward/record.url?scp=67749086032&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=67749086032&partnerID=8YFLogxK
U2 - 10.1080/11762320802675147
DO - 10.1080/11762320802675147
M3 - Article
AN - SCOPUS:67749086032
SN - 1176-2322
VL - 6
SP - 43
EP - 61
JO - Applied Bionics and Biomechanics
JF - Applied Bionics and Biomechanics
IS - 1
ER -