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Paper TuBbT3.9

Assaf, Tareq (Bristol Robotics Lab), Wilson, Emma (University of Sheffield), Anderson, Sean (University of Sheffield), Porrill, John (University of Sheffield), Dean, Paul (University of Sheffield), Pearson, Martin (Bristol Robotics Laboratory)

Visual-Tactile Sensory Map Calibration of a Biomimetic Whiskered Robot

Scheduled for presentation during the Regular Session "Medical and Neuro-Robotics" (TuBbT3), Tuesday, May 17, 2016, 12:14−12:17, Rm. A2

2016 IEEE International Conference on Robotics and Automation, May 16-21, 2016, Stockholm, Sweden

This information is tentative and subject to change. Compiled on October 19, 2020

Keywords Neurorobotics, Learning and Adaptive Systems, Force and Tactile Sensing

Abstract

We present an adaptive filter model of cerebellar function applied to the calibration of a tactile sensory map to improve the accuracy of directed movements of a robotic manipulator. This is demonstrated using a platform called Bellabot that incorporates an array of biomimetic tactile whiskers, actuated using electro-active polymer artificial muscles, a camera to provide visual error feedback, and a standard industrial robotic manipulator. The algorithm learns to accommodate imperfections in the sensory map that may be as a result of poor manufacturing tolerances or damage to the sensory array. Such an ability is an important pre-requisite for robust tactile robotic systems operating in the real-world for extended periods of time. In this work the sensory maps have been purposely distorted in order to evaluate the performance of the algorithm.

 

 

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