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

Research output: Chapter in Book/Report/Conference proceedingConference contribution

40 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 languageEnglish (US)
Title of host publicationProceedings of the 2005 IEEE International Conference on Robotics and Automation
Pages4176-4181
Number of pages6
DOIs
StatePublished - Dec 1 2005
Event2005 IEEE International Conference on Robotics and Automation - Barcelona, Spain
Duration: Apr 18 2005Apr 22 2005

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2005
ISSN (Print)1050-4729

Other

Other2005 IEEE International Conference on Robotics and Automation
CountrySpain
CityBarcelona
Period4/18/054/22/05

Keywords

  • Autonomous navigation
  • Biologically-inspired
  • Cockroach
  • Mobile robotics
  • Whegs™

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