CrunchBot is a robot platform for developing models of tactile perception and navigation. We present the architecture of CrunchBot, and show why tactile navigation is difficult. We give novel real-time performance results from components of a tactile navigation system and a description of how they may be integrated at a systems level. Components include floor surface classification, radial distance estimation and navigation. We show how tactile-only navigation differs fundamentally from navigation tasks using vision or laser sensors, in that the assumptions about the data preclude standard algorithms (such as extended Kalman Filters) and require brute-force methods. © 2011 Springer-Verlag Berlin Heidelberg.
CITATION STYLE
Fox, C. W., Evans, M. H., Lepora, N. F., Pearson, M., Ham, A., & Prescott, T. J. (2011). Crunchbot: A mobile whiskered robot platform. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 6856 LNAI, pp. 102–113). https://doi.org/10.1007/978-3-642-23232-9_10
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