Insect-like antennal sensing for climbing and tunneling behavior in a biologically-inspired mobile robot

William A. Lewinger; Cynthia M. Harley; Roy E. Ritzmann; Michael S. Branicky; Roger D. Quinn

doi:10.1109/ROBOT.2005.1570761

Insect-like antennal sensing for climbing and tunneling behavior in a biologically-inspired mobile robot

William A. Lewinger, Cynthia M. Harley, Roy E. Ritzmann, Michael S. Branicky, Roger D. Quinn

Entomology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

47 Scopus citations

Abstract

Through the use of mechanical, actuated antennae a biologically-inspired robot is capable of autonomous decision-making and navigation when faced with an obstacle that can be climbed over or tunneled under. Vertically-sweeping mechanical antennae and interface microcontrollers have been added to the Whegs™ II [1] sensor platform that allow it to autonomously sense the presence of, and successfully navigate a horizontal shelf placed in its path. The obstacle is sensed when the antennae make contact with it, and navigation is made possible through articulation of the Whegs™ II body flexion joint.

Original language	English (US)
Title of host publication	Proceedings of the 2005 IEEE International Conference on Robotics and Automation
Pages	4176-4181
Number of pages	6
DOIs	https://doi.org/10.1109/ROBOT.2005.1570761
State	Published - Dec 1 2005
Event	2005 IEEE International Conference on Robotics and Automation - Barcelona, Spain Duration: Apr 18 2005 → Apr 22 2005

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
Volume	2005
ISSN (Print)	1050-4729

Other

Other	2005 IEEE International Conference on Robotics and Automation
Country/Territory	Spain
City	Barcelona
Period	4/18/05 → 4/22/05

Keywords

Autonomous navigation
Biologically-inspired
Cockroach
Mobile robotics
Whegs™

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10.1109/ROBOT.2005.1570761

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Lewinger, W. A., Harley, C. M., Ritzmann, R. E., Branicky, M. S., & Quinn, R. D. (2005). Insect-like antennal sensing for climbing and tunneling behavior in a biologically-inspired mobile robot. In Proceedings of the 2005 IEEE International Conference on Robotics and Automation (pp. 4176-4181). Article 1570761 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2005). https://doi.org/10.1109/ROBOT.2005.1570761

Insect-like antennal sensing for climbing and tunneling behavior in a biologically-inspired mobile robot. / Lewinger, William A.; Harley, Cynthia M.; Ritzmann, Roy E. et al.
Proceedings of the 2005 IEEE International Conference on Robotics and Automation. 2005. p. 4176-4181 1570761 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2005).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Lewinger, WA, Harley, CM, Ritzmann, RE, Branicky, MS & Quinn, RD 2005, Insect-like antennal sensing for climbing and tunneling behavior in a biologically-inspired mobile robot. in Proceedings of the 2005 IEEE International Conference on Robotics and Automation., 1570761, Proceedings - IEEE International Conference on Robotics and Automation, vol. 2005, pp. 4176-4181, 2005 IEEE International Conference on Robotics and Automation, Barcelona, Spain, 4/18/05. https://doi.org/10.1109/ROBOT.2005.1570761

Lewinger WA, Harley CM, Ritzmann RE, Branicky MS, Quinn RD. Insect-like antennal sensing for climbing and tunneling behavior in a biologically-inspired mobile robot. In Proceedings of the 2005 IEEE International Conference on Robotics and Automation. 2005. p. 4176-4181. 1570761. (Proceedings - IEEE International Conference on Robotics and Automation). doi: 10.1109/ROBOT.2005.1570761

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Insect-like antennal sensing for climbing and tunneling behavior in a biologically-inspired mobile robot

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