相关论文: A Method to use Nonlinear Dynamics in a Whisker Se…

Whisker-like touch sensors offer unique advantages for short-range perception in environments where visual and long-range sensing are unreliable, such as confined, cluttered, or low-visibility settings. This paper presents a framework for…

This research develops a novel sensor for aquatic robots inspired by the whiskers of harbor seals. This sensor can detect the movement of water, offering valuable data on speed, currents, barriers, and water disturbance. It employs a…

Robots that traverse natural terrain must interpret contact forces generated under highly dynamic conditions. However, most terrain characterization approaches rely on quasi-static assumptions that neglect velocity- and…

This paper presents a bio-inspired underwater whisker sensor for robust hydrodynamic disturbance detection and efficient signal analysis based on Physical Reservoir Computing (PRC). The design uses a tapered nylon spring with embedded…

Perceiving the environment through touch is important for robots to reach in cluttered environments, but devising a way to sense without disturbing objects is challenging. This work presents the design and modelling of whisker-inspired…

Non linear dynamic behaviour of a normally excited preloaded Hertzian contact (including possible contact losses) is investigated using an experimental test rig. It consists on a double sphere plane contact loaded by the weight of a rigid…

The perception and recognition of the surroundings is one of the essential tasks for a robot. With preliminary knowledge about a target object, it can perform various manipulation tasks such as rolling motion, palpation, and force control.…

Texture-based studies and designs have been in focus recently. Whisker-based multidimensional surface texture data is missing in the literature. This data is critical for robotics and machine perception algorithms in the classification and…

Localized vibrations, arising from nonlinearities or symmetry breaking, pose a challenge in engineering, as the resulting high-amplitude vibrations may result in component failure due to fatigue. During operation, the emergence of…

Quadrupedal mobile robots can traverse a wider range of terrain types than their wheeled counterparts but do not perform the same on all terrain types. These robots are prone to undesirable behaviours like sinking and slipping on…

Underwater marine animal monitoring is essential for assessing biodiversity, evaluating ecosystem health, and understanding the effects of offshore structures. Traditional approaches such as tagging, sonar, and camera systems are often…

This article focuses on the prediction of the vibration frequency response of handheld probes. A novel approach that involves machine learning and readily available data from probes was explored. Vibration probes are efficient and…

Bio-inspired whisker sensors are employed in diverse applications such as fluid-flow sensing, texture analysis, and environmental exploration. However, existing designs often face challenges related to durability, fabrication complexity,…

Rich contact perception is crucial for robotic manipulation, yet traditional tactile skins remain expensive and complex to integrate. This paper presents a scalable alternative: high-accuracy whole-body touch localization via vibro-acoustic…

Most of the work on chatter detection is based on laboratory machining tests, thus without the constraints of noise, the variety of situations to be managed in the industry, and the uncertainties on the parameters (sensor position, tool…

For objects of "large" vibration size such as waves on the sea surface, the choice of measurement method can create different understandings of system behavior. In one case, laser vibrometry measurements of a vibrating bar in a controlled…

The equations of motion governing mobile robots are dependent on terrain properties such as the coefficient of friction, and contact model parameters. Estimating these properties is thus essential for robotic navigation. Ideally any map…

Perception using whisker-inspired tactile sensors currently faces a major challenge: the lack of active control in robots based on direct contact information from the whisker. To accurately reconstruct object contours, it is crucial for the…

Noisy vibrotactile signals transmitted during tactile explorations of an object provide precious information on the nature of its surface. Linking the properties of such vibrotactile signals to the way they are interpreted by the haptic…

Tactile sensing and the manipulation of delicate objects are critical challenges in robotics. This study presents a vision-based magnetic-actuated whisker array sensor that integrates these functions. The sensor features eight whiskers…