A Simple Tactile Probe for Surface Identification by Mobile Robots

  title={A Simple Tactile Probe for Surface Identification by Mobile Robots},
  author={Philippe Gigu{\`e}re and Gregory Dudek},
  journal={IEEE Transactions on Robotics},
This paper describes a tactile probe designed for surface identification in a context of all-terrain low-velocity mobile robotics. The proposed tactile probe is made of a small metallic rod with a single-axis accelerometer attached near its tip. Surface identification is based on analyzing acceleration patterns induced at the tip of this mechanically robust tactile probe, while it is passively dragged along a surface. A training dataset was collected over ten different indoor and outdoor… CONTINUE READING
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