Conference Paper

CrunchBot: A Mobile Whiskered Robot Platform.

DOI: 10.1007/978-3-642-23232-9_10 Conference: Towards Autonomous Robotic Systems - 12th Annual Conference, TAROS 2011, Sheffield, UK, August 31 - September 2, 2011. Proceedings
Source: DBLP

ABSTRACT 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.

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