An artificial whisker sensor for robotics

摘要

In this paper, we present a first series of experiments with prototype artificial whiskers that have been developed in our laboratory. These experiments have been inspired by neuroscience research on real rats. In spite of the enormous potential of whiskers, they have to date not been systematically investigated and exploited by roboticists. Although the transduction mechanism is simple and straightforward, and the whiskers are currently used in a passive way only, the dynamics of the sensory signals resulting from the interaction with various textured surfaces is complex and has a rich information content. The experiments provide the foundation for future work including active sensing, whisker arrays, and cross-modal integration.