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Texture perception is studied here in a physical model of the rat whisker system consisting of a robot equipped with a biomimetic vibrissal sensor. Investigations of whisker motion in rodents have led to several explanations for texture discrimination, such as resonance or stick-slips. Meanwhile, electrophysiological studies of decision-making in monkeys(More)
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— Many rodents use their whiskers to distinguish objects by surface texture. To examine possible mechanisms for this discrimination, data from an artificial whisker attached to a moving robot was used to test texture classification algorithms. This data was examined previously using a template-based clas-sifier of the whisker vibration power spectrum [1].(More)
— Future robots may need to navigate where visual sensors fail. Touch sensors provide an alternative modality, largely unexplored in the context of robotic map building. We present the first results in grid based simultaneous localisation and mapping (SLAM) with biomimetic whisker sensors, and show how multi-whisker features coupled with priors about(More)
Rats and other whiskered mammals are capable of making sophisticated sensory discriminations using tactile signals from their facial whiskers (vibrissae). As part of a programme of work to develop biomimetic technologies for vibrissal sensing, including whiskered robots, we are devising algorithms for the fast extraction of object parameters from whisker(More)
— Recent advances in modeling animal perception have inspired an approach of Bayesian perception applied to biomimetic robots. This study applies Bayesian perception to an iCub fingertip sensor mounted on a dedicated positioning robot, with the aim of providing a standardized test of sensor capabilities and extending the approach of robot perception. We(More)
— Whiskered mammals such as rats are experts in tactile perception. By actively palpating surfaces with their whiskers, rats and mice are capable of acute texture discrimination and shape perception. We present a novel system for investigating whisker-object contacts repeatably and reliably. Using an XY positioning robot and a biomimetic artificial whisker(More)
A general problem in robotics is how to best utilize sensors to classify the robot's environment. The BIOTACT project (BIOmimetic Technology for vibrissal Active Touch) is a collaboration between biologists and engineers that has led to many distinctive robots with artificial whisker sensing capabilities. One problem is to construct classifiers that can(More)
— Novelty detection would be a useful ability for any autonomous robot that seeks to categorize a new environment or notice unexpected changes in its present one. A biomimetic robot (SCRATCHbot) inspired by the rat whisker system was here used to examine the performance of a novelty detection algorithm based on a 'naive' implementation of Bayes rule. Naive(More)