Autonomous Navigation Using Bio-inspired Soft Tactile Sensors for Close-Proximity Perception
12th International Conference on Control, Decision and Information Technologies, CoDIT 2026, Bari, İtalya, 13 - 16 Temmuz 2026, ss.3203-3208, (Tam Metin Bildiri)
- Yayın Türü: Bildiri / Tam Metin Bildiri
- Doi Numarası: 10.1109/codit70676.2026.11631020
- Basıldığı Şehir: Bari
- Basıldığı Ülke: İtalya
- Sayfa Sayıları: ss.3203-3208
- Hacettepe Üniversitesi Adresli: Evet
Özet
This paper presents a low-cost, bio-inspired soft robotic antenna designed for close-proximity depth sensing, modeled after the tactile functionality of insect antennae. Fabricated from a flexible silicone rubber substrate with embedded microchannels containing conductive carbon paste, the sensor utilizes resistance-based feedback to estimate distance. The sensor's performance is characterized through time-domain analysis and modeled using a fifth-order recursive least squares estimation (RLSE) algorithm. The effectiveness of the soft antenna is demonstrated through an autonomous wheeled robot executing Bug1, Bug2, and TangentBug algorithms for wall-following and obstacle avoidance. Results show that the soft antenna provides reliable distance sensing and accurate obstacle detection, offering a resilient and scalable solution for bio-inspired perception in autonomous systems.