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ICRA
2005
IEEE

Dynamical Wall Following for a Wheeled Robot Using a Passive Tactile Sensor

10 years 3 months ago
Dynamical Wall Following for a Wheeled Robot Using a Passive Tactile Sensor
— Feedback from antennae – long, flexible tactile sensors – enables cockroaches and other arthropods to rapidly maneuver through poorly lit and cluttered environments. Inspired by their performance, we created a wall-following controller for a dynamic wheeled robot using tactile antenna feedback. We show this controller is stable for a wide range of control gains and robot system parameters. To test the controller, we constructed a two-link antenna that uses potentiometers and capacitive contact sensors. Experiments based on the prototype demonstrate that our controller robustly tracks unexpected corners ranging from −60◦ to +90◦ .
Andrew G. Lamperski, Owen Y. Loh, Brett L. Kutsche
Added 25 Jun 2010
Updated 25 Jun 2010
Type Conference
Year 2005
Where ICRA
Authors Andrew G. Lamperski, Owen Y. Loh, Brett L. Kutscher, Noah J. Cowan
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