Object exploration using whisker sensors

Abstract

This paper describes the progress of a project to locate, recognize and manipulate objects using information from whisker sensors. Object surface information is gathered by measuring the angle of deflection of a rigid whisker as it slides over the object surface. In order to successfully reconstruct the surface shape of an object, the whisker tip has to be in contact with the object. Ambiguous information is produced when the contact position is along the whisker length. We have developed a novel sensing algorithm that solves this problem. Using the algorithm it is possible to determine whether the contact