TY - GEN
T1 - Dynamical wall following for a wheeled robot using a passive tactile sensor
AU - Lamperski, Andrew G.
AU - Loh, Owen Y.
AU - Kutscher, Brett L.
AU - Cowan, Noah J.
PY - 2005/12/1
Y1 - 2005/12/1
N2 - Feedback from antennae - long, flexible tactile sensors - enables cockroaches and other arthropods to rapidly maneuver through poorly lit and cluttered environments. Inspired by their performance, we created a wall-following controller for a dynamic wheeled robot using tactile antenna feedback. We show this controller is stable for a wide range of control gains and robot system parameters. To test the controller, we constructed a two-link antenna that uses potentiometers and capacitive contact sensors. Experiments based on the prototype demonstrate that our controller robustly tracks unexpected corners ranging from -60° to +90°.
AB - Feedback from antennae - long, flexible tactile sensors - enables cockroaches and other arthropods to rapidly maneuver through poorly lit and cluttered environments. Inspired by their performance, we created a wall-following controller for a dynamic wheeled robot using tactile antenna feedback. We show this controller is stable for a wide range of control gains and robot system parameters. To test the controller, we constructed a two-link antenna that uses potentiometers and capacitive contact sensors. Experiments based on the prototype demonstrate that our controller robustly tracks unexpected corners ranging from -60° to +90°.
UR - http://www.scopus.com/inward/record.url?scp=33744919927&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=33744919927&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2005.1570706
DO - 10.1109/ROBOT.2005.1570706
M3 - Conference contribution
AN - SCOPUS:33744919927
SN - 078038914X
SN - 9780780389144
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 3838
EP - 3843
BT - Proceedings of the 2005 IEEE International Conference on Robotics and Automation
T2 - 2005 IEEE International Conference on Robotics and Automation
Y2 - 18 April 2005 through 22 April 2005
ER -