Abstract
Compared to vision, active tactile sensing enables animals and robots to perform unambiguous object localization, segmentation and shape recognition. Recently, we proposed a bio-inspired, CPG-based, active antennal control model, so-called Contour-net, which captures essential characteristics of antennal behavior in climbing stick insects. In simulation, this model provides a robust and effective way to trace contours and classify various 3D shapes. Here, we propose a physical robotic implementation of Contour-net using vibration-based active antennae. We show that combining tactile contour tracing with vibration-based distance estimation yields fairly accurate localization of contact events in 3D space.
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Hoinville, T., Harischandra, N., Krause, A.F., Dürr, V. (2014). Insect-Inspired Tactile Contour Sampling Using Vibration-Based Robotic Antennae. In: Duff, A., Lepora, N.F., Mura, A., Prescott, T.J., Verschure, P.F.M.J. (eds) Biomimetic and Biohybrid Systems. Living Machines 2014. Lecture Notes in Computer Science(), vol 8608. Springer, Cham. https://doi.org/10.1007/978-3-319-09435-9_11
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DOI: https://doi.org/10.1007/978-3-319-09435-9_11
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