کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
413588 680577 2006 10 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
On the influence of morphology of tactile sensors for behavior and control
موضوعات مرتبط
مهندسی و علوم پایه مهندسی کامپیوتر هوش مصنوعی
پیش نمایش صفحه اول مقاله
On the influence of morphology of tactile sensors for behavior and control
چکیده انگلیسی

Many different animal species rely on whiskers for a variety of tasks. Among the most basic are obstacle avoidance and wall-following. We show that fast and reliable evaluation of distances can be greatly improved by an appropriate sensory morphology that matches the physical space of the agent. To investigate morphologies and material properties of whiskers, we conduct experiments both on a real robot and in simulation using artificial evolution. We find that the morphology that is most successful at following a wall strongly resembles the morphologies of natural whiskers. This can be better understood by considering the relation of the agent body to its tactile sensing range, as well as the challenges of various tasks faced by agents endowed with different sensory modalities.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Robotics and Autonomous Systems - Volume 54, Issue 8, 31 August 2006, Pages 686–695
نویسندگان
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