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SCRATCHbot: Active Tactile Sensing in a Whiskered Mobile Robot

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Academic year: 2019

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Figure

Fig. 1. Natural and artificial vibrissal systems. Left. Frame from a high-speed videosequence recorded in our laboratory, showing an exploring rat with whiskers at themaximum protraction phase of the whisk cycle, but with the whiskers ipsilateral to anobjec
Fig. 2. Overview of control architecture of SCRATCHbot. Arrows indicate controlloops within our model whisker sensory system that correspond to current understand-ing of the real sensory system
Fig. 3. Investigating the impact of per-column MIMC on whisking patterns. For thisexperiment we fixed the robot head in a position facing a stationary ‘wall’
Fig. 4. Frames taken during an orient towards a point of whisker contact, along withplots of data recorded during the run

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