相关论文: Design of Whisker-Inspired Sensors for Multi-Direc…
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…
Blindfolded harbor seals are able to use their uniquely shaped whiskers to track vortex wakes left by moving animals and objects that passed by up to 30 seconds earlier; this is an impressive feat as the flow features they detect may have…
Aquatic mammals, such as pinnipeds, utilize their whiskers to detect and discriminate objects and analyze water movements, inspiring the development of robotic whiskers for sensing contacts, surfaces, and water flows. We present the design…
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…
Underwater flow sensing is critical for unmanned underwater vehicles (UUVs) and environmental monitoring, yet existing sensors often suffer from low responsiveness, high detection thresholds, limited directional discrimination, complex…
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,…
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…
Sensing the flow of water or air disturbance is critical for the survival of many animals: flow information helps them localize food, mates, and prey and to escape predators. Across species, many flow sensors take the form of long, flexible…
Autonomous ocean-exploring vehicles have begun to take advantage of onboard sensor measurements of water properties such as salinity and temperature to locate oceanic features in real time. Such targeted sampling strategies enable more…
Tiny flying robots hold great potential for search-and-rescue, safety inspections, and environmental monitoring, but their small size limits conventional sensing-especially with poor-lighting, smoke, dust or reflective obstacles. Inspired…
This paper shows analytical and experimental evidence of using the vibration dynamics of a compliant whisker for accurate terrain classification during steady state motion of a mobile robot. A Hall effect sensor was used to measure whisker…
Bio-inspired underwater vehicles could yield improved efficiency, maneuverability, and environmental compatibility over conventional propeller-driven underwater vehicles. However, to realize the swimming performance of biology, there is a…
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…
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…
Fish-inspired aquatic robots are gaining increasing attention in marine robot communities due to their high swimming speeds and efficient propulsion enabled by flexible bodies that generate undulatory motions. To support the design…
Pinnipeds like seals and sea lions use their whiskers in hunting their prey in dark and turbid conditions. There is no theoretical model or a hypothesis to explain the interaction of whiskers with hydrodynamic fish trails. The present work…
Robots benefit from sensory information to coordinate body movement, gain robustness against perturbations, and transition between different modes to adapt to various terrains. However, few amphibious robots can sense interactions with both…
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.…
Many aquatic organisms are able to track ambient flow disturbances and locate their source. These tasks are particularly challenging because they require the organism to sense local flow information and respond accordingly. Details of how…
Many soft-body organisms found in nature flourish underwater. Similarly, soft robots are potentially well-suited for underwater environments partly because the problematic effects of gravity, friction, and harmonic oscillations are less…