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Robotic Whisker Papers

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Northwestern University Institute for Neuroscience (NUIN)

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Papers on Robotic Whiskers and Whisker Mechanics

Notes:

(1) This list of papers is supposed to be inclusionary, not exclusionary. If you know of a paper that should be listed here, please email a PDF version to m-hartmann (at) northwestern (dot) edu.

(2) This website only includes papers whose primary focus is whisker robotics and whisker mechanics.

For an Endnote library of all papers listed on this website -- click here

T. Tsujimura and T. Yabuta, "Object detection by tactile sensing method employing force/torque information," IEEE Transactions on Robotics and Automation, vol. 5, pp. 444-450, Aug. 1989.

S. Hirose, S. Inoue, and K. Yoneda, "The whisker sensor and the transmission of multiple sensor signals," Advanced Robotics, vol. 2, pp. 105-117, 1990.

J. Wilson and Z. Chen, "A whisker probe system for shape perception of solids," ASME Journal of Dynamic Systems, Measurement, and Control, vol. 117, pp. 104-108, 1995.

D. Jung and A. Zelinsky, "Whisker Based Mobile Robot Navigation," in IEEE/RSJ International Conference on Intelligent Robots and Systems, 1996, pp. 497-504.

M. Kaneko, N. Kanayama, and T. Tsuji, “Active antenna for contact sensing,” IEEE Trans. Robotics and Automation, vol.14, pp.278–291, 1998. [note -- the title of this paper says "antenna," but really the authors describe a whisker. There are no sensors along the probe's length.]

N. Ueno, M. Svinin, and M. Kaneko, "Dynamic contact sensing by flexible beam," IEEE/ASME Transactions on Mechatronics, vol. 3, pp. 254-264, Apr. 1998.

M. Kaneko and T. Tsuji, "A whisker tracing sensor with 5 µm sensitivity," in IEEE/RSJ International Conference on Intelligent Robots and Systems, 2000, pp. 3907-3912.

T. Chapman, A. Hayes, M. Tilden, “Reactive maze solving with a biologically inspired wind sensor,” in Proc. of the 6th Int.Conf. on Sim. of Adaptive Behavior, 2000, Paris, France, pp.81-87, MIT Press.

M. Lungarella, V. Hafner, R. Pfeifer, and H.Yokoi, “An artificial whisker sensor for robotics,” in Proc. IEEE Int. Conf. on Intelligent Robots and Systems, 2002, pp. 2931-2936.

M. Lungarella, V. Hafner, R. Pfeifer, H. Yokoi, “Whisking: an unexplored sensory modality,” in Proc. 7th Int. Conf. of the Simulation of Adaptive Behavior, 2002, pp. 58-59, MIT Press.

M. Fend, S. Bovet, H. Yokoi, and R. Pfeifer, “An active artificial whisker array for texture discrimination,” in Proc. IEEE/RSJ Int. Conf. on Intel. Robots and Systems, Las Vegas, 2003, vol. II, pp. 1044-1049.

R. Russell and J. Wijaya, “Object location and recognition using whisker sensors,” Australian Conference on Robotics and Automation, CD-ROM Proceedings ISBN 0-9587583-5-2, 2003.

V. Hafner, M. Fend, M. Lungarella, R. Pfeifer, P. König, and K. Körding, “Optimal coding for naturally occurring whisker deflections,” Proc. 10th Int. Conf. on Neural Information Processing, 2003, pp. 805- 812.

N. Cowan, E. Ma, M. Cutkosky, and R. Full, “A biologically inspired passive antenna for steering control of a running robot,” Int. Symposium on Robotics Research, Siena, Italy, 2003. (Note: antennae are not really whiskers, because they have sensors along their length. But they make for a very interesting comparison to whiskers).

M. Fend, H. Yokoi, and R. Pfeifer, “Optimal morphology of a biologically-inspired whisker array on an obstacle-avoiding robot,” in Proc. of the 7th Eur. Conf. on Artificial Life, 2003, pp. 771-780.

G. Scholz and C. Rahn, “Profile sensing with an actuated whisker,” IEEE Trans. on Robotics and Automation, vol. 20, pp.124-127, 2004.

S. Bovet, M. Fend, and R. Pfeifer(2004), “Simulating whisker sensors - on the role of material properties for morphology, behavior and evolution,” in Proc. 8th Int. Conf. on the Simulation of Adaptive Behavior, 2004, Los Angeles, p. 122 – 130.

M. Fend, R. Abt, M. Diefenbacher, S. Bovet, and M. Krafft, “Morphology and Learning - A Case Study on Whiskers,” in Proc. 8th Int. Conf. on the Simulation of Adaptive Behavior, 2004, Los Angeles, pp. 114 - 122.

M. Fend, S. Bovet, and V. Hafner, “The Artificial Mouse - A Robot with Whiskers and Vision,” in Proceedings of the 35th International Symposium on Robotics, Paris, March 2004.

A. E. Schultz, J. H. Solomon, M. J. Peshkin, and M. J. Hartmann, "Multifunctional whisker arrays for distance detection, terrain mapping, and object feature extraction," in IEEE International Conference on Robotics and Automation, 2005, pp. 2588-2593.

T. N. Clements and C. D. Rahn, "Three dimensional contact imaging with an actuated whisker," IEEE Transactions on Robotics, vol. 22, pp. 844-848, 2006.

O. Bebek and M. C. Cavusoglu, "Whisker sensor design for three dimensional position measurement in robotic assisted beating heart surgery," in IEEE International Conference on Robotics and Automation, 2007, pp. 225-231.