Conference Towards Autonomous Robotic Systems

TAROS 2011: Towards Autonomous Robotic Systems pp 102-113

CrunchBot: A Mobile Whiskered Robot Platform

  • Charles W. Fox
  • Mathew H. Evans
  • Nathan F. Lepora
  • Martin Pearson
  • Andy Ham
  • Tony J. Prescott
Conference paper

DOI: 10.1007/978-3-642-23232-9_10

Volume 6856 of the book series Lecture Notes in Computer Science (LNCS)
Cite this paper as:
Fox C.W., Evans M.H., Lepora N.F., Pearson M., Ham A., Prescott T.J. (2011) CrunchBot: A Mobile Whiskered Robot Platform. In: Groß R., Alboul L., Melhuish C., Witkowski M., Prescott T.J., Penders J. (eds) Towards Autonomous Robotic Systems. TAROS 2011. Lecture Notes in Computer Science, vol 6856. Springer, Berlin, Heidelberg

Abstract

CrunchBot is a robot platform for developing models of tactile perception and navigation. We present the architecture of CrunchBot, and show why tactile navigation is difficult. We give novel real-time performance results from components of a tactile navigation system and a description of how they may be integrated at a systems level. Components include floor surface classification, radial distance estimation and navigation. We show how tactile-only navigation differs fundamentally from navigation tasks using vision or laser sensors, in that the assumptions about the data preclude standard algorithms (such as extended Kalman Filters) and require brute-force methods.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2011

Authors and Affiliations

  • Charles W. Fox
    • 1
  • Mathew H. Evans
    • 1
  • Nathan F. Lepora
    • 1
  • Martin Pearson
    • 1
  • Andy Ham
    • 1
  • Tony J. Prescott
    • 1
  1. 1.Active Touch Laboratory at Sheffield (ATL@S)University of SheffieldSheffieldUK