Layered control architectures in robots and vertebrates
Adaptive Behavior
Active Sensing Capabilities of the Rat Whisker System
Autonomous Robots
A real-time, FPGA based, biologically plausible neural network processor
ICANN'05 Proceedings of the 15th international conference on Artificial neural networks: formal models and their applications - Volume Part II
A model of sensorimotor coordination in the rat whisker system
SAB'06 Proceedings of the 9th international conference on From Animals to Animats: simulation of Adaptive Behavior
BRAHMS: Novel middleware for integrated systems computation
Advanced Engineering Informatics
Surface identification using simple contact dynamics for mobile robots
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Cerebellar-inspired adaptive control of a robot eye actuated by pneumatic artificial muscles
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
SCRATCHbot: active tactile sensing in a whiskered mobile robot
SAB'10 Proceedings of the 11th international conference on Simulation of adaptive behavior: from animals to animats
A supramodal vibrissa tactile and auditory model for texture recognition
SAB'10 Proceedings of the 11th international conference on Simulation of adaptive behavior: from animals to animats
Adaptive cancelation of self-generated sensory signals in a whisking robot
IEEE Transactions on Robotics
The challenges ahead for bio-inspired 'soft' robotics
Communications of the ACM
Biomimetic tactile target acquisition, tracking and capture
Robotics and Autonomous Systems
Autonomous tactile perception: A combined improved sensing and Bayesian nonparametric approach
Robotics and Autonomous Systems
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The Whiskerbot project is a collaborative project between robotics engineers, computational neuroscientists and ethologists, aiming to build a biologically inspired robotic implementation of the rodent whisker sensory system. The morphology and mechanics of the large whiskers (macro-vibrissae) have been modeled, as have the neural structures that constitute the rodent central nervous system responsible for macro-vibrissae sensory processing. There are two principal motivations for this project. First, by implementing an artificial whisker sensory system controlled using biologically plausible neural networks we hope to test existing models more thoroughly and develop new hypotheses for vibrissal sensory processing. Second, the sensory mode of tactile whiskers could be useful for general mobile robotic sensory deployment. In this article the robotic platform that has been built is detailed as well as some of the experiments that have been conducted to test the neural control algorithms and architectures inspired from neuroethological observations to mediate adaptive behaviors.