Imperial College London
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Professor Thrishantha Nanayakkara

Faculty of Engineering, Dyson School of Design Engineering

Professor in Robotics
 
 
 
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Contact

 

+44 (0)7902 396 681t.nanayakkara Website CV

 
 
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Location

 

RCS 1M07Dyson BuildingSouth Kensington Campus

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Summary

 

Publications

Citation

BibTex format

@inproceedings{Yu:2021:10.1109/IROS51168.2021.9636571,
author = {Yu, Z and SMHadi, S and Hasitha, W and Childs, P and Nanayakkara, T},
doi = {10.1109/IROS51168.2021.9636571},
pages = {8437--8443},
publisher = {IEEE},
title = {A method to use nonlinear dynamics in a whisker sensor for terrain identification by mobile robots},
url = {http://dx.doi.org/10.1109/IROS51168.2021.9636571},
year = {2021}
}
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RIS format (EndNote, RefMan)

TY  - CPAPER
AB  - 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 a dominant frequency at the vertical perturbation frequency of the mobile robot sandwiched by two other less dominant but distinct frequency components. These frequency components may come from bifurcation of vibration frequency due to nonlinear interaction dynamics at steady state. Experimental results also exhibit distinct dominant frequency components unique to the speed of the robot and the terrain roughness. This nonlinear dynamic feature is used in a deep multi-layer perceptron neural network to classify terrains. We achieved 85.6% prediction success rate for seven flat terrain surfaces with different textures.Index Terms— Robotic whiskers, Surface identification, multi-layer perceptron, Modal analysis.
AU  - Yu,Z
AU  - SMHadi,S
AU  - Hasitha,W
AU  - Childs,P
AU  - Nanayakkara,T
DO  - 10.1109/IROS51168.2021.9636571
EP  - 8443
PB  - IEEE
PY  - 2021///
SP  - 8437
TI  - A method to use nonlinear dynamics in a whisker sensor for terrain identification by mobile robots
UR  - http://dx.doi.org/10.1109/IROS51168.2021.9636571
UR  - https://ieeexplore.ieee.org/abstract/document/9636571
UR  - http://hdl.handle.net/10044/1/90608
ER  -
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