Paper Info
Title
Contact type dependency of texture classification in a whiskered mobile robot
Abstract
Actuated artificial whiskers modeled on rat macrovibrissae can provide effective tactile sensor systems for autonomous robots. This article focuses on texture classification using artificial whiskers and addresses a limitation of previous studies, namely, their use of whisker deflection signals obtained under relatively constrained experimental conditions. Here we consider the classification of signals obtained from a whiskered robot required to explore different surface textures from a range of orientations and distances. This procedure resulted in a variety of deflection signals for any given texture. Using a standard Gaussian classifier we show, using both hand-picked features and ones derived from studies of rat vibrissal processing, that a robust rough-smooth discrimination is achievable without any knowledge of how the whisker interacts with the investigated object. On the other hand, finer discriminations appear to require knowledge of the target’s relative position and/or of the manner in which the whisker contact its surface.
Year
DOI
Venue
2009
10.1007/s10514-009-9109-z
Autonomous Robots
Keywords
Field
DocType
rat macrovibrissae,autonomous robot,rat vibrissal processing,whisker deflection,contact type dependency,texture classification,deflection signal,actuated artificial whisker,different surface texture,whisker interacts,whiskered mobile robot,artificial whisker,whiskers · vibrissae · tactile sensing · texture discrimination,mobile robot,surface texture,tactile sensor
Computer vision,Deflection (engineering),Contact type,Computer science,Whiskers,Artificial intelligence,Robot,Gaussian classifier,Mobile robot,Tactile sensor,Whisker
Journal
Volume
Issue
ISSN
26
4
0929-5593
Citations 
PageRank 
References 
20
1.46
13
Authors
5
Name
Order
Citations
PageRank
Charles W. Fox116214.65
Ben Mitchinson214517.74
Martin J. Pearson321526.34
Anthony G. Pipe425539.08
Tony J. Prescott514515.77