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A Method for Evaluating Timeliness and Accuracy of Volitional Motor Responses to Vibrotactile Stimuli

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Biomimetic vibrissal sensing for robots.

Martin J Pearson¹, Ben Mitchinson, J Charles Sullivan

¹Bristol Robotics Laboratory, University of the West of England, Coldharbour Lane, Bristol BS16 1QD, UK. martin.pearson@brl.ac.uk

Philosophical Transactions of the Royal Society of London. Series B, Biological Sciences

|October 5, 2011

Summary

This summary is machine-generated.

This study introduces Shrewbot, a robot using biomimetic whiskers for enhanced tactile sensing. Bio-inspired active touch control improves sensory information acquisition for mobile robots.

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Area of Science:

Robotics
Biomimetics
Neuroethology

Background:

Mobile robots can enhance sensory capabilities by incorporating active vibrissal touch, supplementing systems like computer vision.
Biological systems offer insights into morphology and control strategies for tactile sensing.

Purpose of the Study:

To develop a physical platform for testing neuroethological hypotheses about vibrissal touch.
To leverage biological principles for improved tactile information gathering in robots.

Main Methods:

Designed and built Shrewbot, a robot with a biomimetic array of individually controlled whiskers.
Implemented a neuroethologically inspired whisking pattern generation mechanism.
Investigated the impact of active touch control on sensory information acquisition.

Main Results:

The morphology of the whisker array influences the robot's sensory surface.
Bio-inspired, low-latency motor control of whisking enhances tactile sensing by constraining sensory range and maximizing contacts.
Active touch control strategies can be effectively studied using biomimetic robots.

Conclusions:

Biomimetic robots like Shrewbot provide valuable platforms for understanding active vibrissal touch.
Active touch control, inspired by biology, significantly improves the quality and quantity of tactile sensory data for mobile robots.