Monofilament whisker-based mobile robot navigation

Rishabh Shukla, Prasanna Kumar Routray, Kshitij Tiwari, Steven M. Lavalle, M. Manivannan

Research output: Chapter in Book/Report/Conference proceedingConference contribution


Rodents and pinnipeds use their tactile sense as the primary modes for localization and foraging. This abstract presents a rodent whisker-inspired tactile sensor for mobile robot navigation fabricated using the Semmes-Weinstein Monofilament (SWMF). The monofilament is lightweight, readily available, and generates reproducible buckling stresses. The sensor deflection characteristic has three distinct regions of operation that help detect buckling. The sensor's small size, 360° tactile view, and force sensing capability could make it suitable for narrow space navigation.

Original languageEnglish (US)
Title of host publication2021 IEEE World Haptics Conference, WHC 2021
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages1
ISBN (Electronic)9781665418713
StatePublished - Jul 6 2021
Externally publishedYes
Event2021 IEEE World Haptics Conference, WHC 2021 - Virtual, Montreal, Canada
Duration: Jul 6 2021Jul 9 2021

Publication series

Name2021 IEEE World Haptics Conference, WHC 2021


Conference2021 IEEE World Haptics Conference, WHC 2021
CityVirtual, Montreal

ASJC Scopus subject areas

  • Human-Computer Interaction
  • Control and Optimization
  • Sensory Systems


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