A Method to use Nonlinear Dynamics in a Whisker Sensor for Terrain Identification by Mobile Robots
Zhenhua Yu,S.M. Hadi Sadati,Hasitha Wegiriya,Peter Childs,Thrishantha Nanayakkara,Zhenhua Yu,S.M. Hadi Sadati,Hasitha Wegiriya,Peter Childs,Thrishantha Nanayakkara
This paper shows analytical and experimental evidence of using the vibration dynamics of a compliant whisker for accurate terrain classification during steady state motion of a mobile robot. A Hall effect sensor was used to measure whisker vibrations due to perturbations from the ground. Analytical results predict that the whisker vibrations will have one dominant frequency at the vertical perturb...
