{"id":"https://openalex.org/W4417027646","doi":"https://doi.org/10.1002/cpe.70467","title":"A Novel Bio\u2010Inspired Whisker Sensor System for Robotic Navigation With Enhanced Environmental Adaptability","display_name":"A Novel Bio\u2010Inspired Whisker Sensor System for Robotic Navigation With Enhanced Environmental Adaptability","publication_year":2025,"publication_date":"2025-12-05","ids":{"openalex":"https://openalex.org/W4417027646","doi":"https://doi.org/10.1002/cpe.70467"},"language":"en","primary_location":{"id":"doi:10.1002/cpe.70467","is_oa":true,"landing_page_url":"https://doi.org/10.1002/cpe.70467","pdf_url":"https://onlinelibrary.wiley.com/doi/pdfdirect/10.1002/cpe.70467","source":{"id":"https://openalex.org/S11065456","display_name":"Concurrency and Computation Practice and Experience","issn_l":"1532-0626","issn":["1532-0626","1532-0634"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Concurrency and Computation: Practice and Experience","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"bronze","oa_url":"https://onlinelibrary.wiley.com/doi/pdfdirect/10.1002/cpe.70467","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100611974","display_name":"Zhiwen Zhang","orcid":"https://orcid.org/0000-0002-0797-9448"},"institutions":[{"id":"https://openalex.org/I37796252","display_name":"Beijing University of Technology","ror":"https://ror.org/037b1pp87","country_code":"CN","type":"education","lineage":["https://openalex.org/I37796252"]},{"id":"https://openalex.org/I78675632","display_name":"Beijing Information Science & Technology University","ror":"https://ror.org/04xnqep60","country_code":"CN","type":"education","lineage":["https://openalex.org/I78675632"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiwen Zhang","raw_affiliation_strings":["School of Information Science and Technology, and the Key Laboratory of Computational Intelligence and Intelligent Systems Beijing University of Technology  Beijing China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Information Science and Technology, and the Key Laboratory of Computational Intelligence and Intelligent Systems Beijing University of Technology  Beijing China","institution_ids":["https://openalex.org/I78675632","https://openalex.org/I37796252"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053867301","display_name":"Naigong Yu","orcid":null},"institutions":[{"id":"https://openalex.org/I37796252","display_name":"Beijing University of Technology","ror":"https://ror.org/037b1pp87","country_code":"CN","type":"education","lineage":["https://openalex.org/I37796252"]},{"id":"https://openalex.org/I78675632","display_name":"Beijing Information Science & Technology University","ror":"https://ror.org/04xnqep60","country_code":"CN","type":"education","lineage":["https://openalex.org/I78675632"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Naigong Yu","raw_affiliation_strings":["School of Information Science and Technology, and the Key Laboratory of Computational Intelligence and Intelligent Systems Beijing University of Technology  Beijing China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Information Science and Technology, and the Key Laboratory of Computational Intelligence and Intelligent Systems Beijing University of Technology  Beijing China","institution_ids":["https://openalex.org/I78675632","https://openalex.org/I37796252"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084621633","display_name":"Zongxia Wang","orcid":"https://orcid.org/0000-0003-4451-6343"},"institutions":[{"id":"https://openalex.org/I37796252","display_name":"Beijing University of Technology","ror":"https://ror.org/037b1pp87","country_code":"CN","type":"education","lineage":["https://openalex.org/I37796252"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zongxia Wang","raw_affiliation_strings":["College of Computer Science Beijing University of Technology  Beijing China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Computer Science Beijing University of Technology  Beijing China","institution_ids":["https://openalex.org/I37796252"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111881186","display_name":"Jinhan Yan","orcid":"https://orcid.org/0009-0000-2842-3329"},"institutions":[{"id":"https://openalex.org/I37796252","display_name":"Beijing University of Technology","ror":"https://ror.org/037b1pp87","country_code":"CN","type":"education","lineage":["https://openalex.org/I37796252"]},{"id":"https://openalex.org/I78675632","display_name":"Beijing Information Science & Technology University","ror":"https://ror.org/04xnqep60","country_code":"CN","type":"education","lineage":["https://openalex.org/I78675632"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jinhan Yan","raw_affiliation_strings":["School of Information Science and Technology, and the Key Laboratory of Computational Intelligence and Intelligent Systems Beijing University of Technology  Beijing China"],"raw_orcid":"https://orcid.org/0009-0000-2842-3329","affiliations":[{"raw_affiliation_string":"School of Information Science and Technology, and the Key Laboratory of Computational Intelligence and Intelligent Systems Beijing University of Technology  Beijing China","institution_ids":["https://openalex.org/I78675632","https://openalex.org/I37796252"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5013719308","display_name":"Jingsen Huang","orcid":"https://orcid.org/0009-0000-5768-9441"},"institutions":[{"id":"https://openalex.org/I37796252","display_name":"Beijing University of Technology","ror":"https://ror.org/037b1pp87","country_code":"CN","type":"education","lineage":["https://openalex.org/I37796252"]},{"id":"https://openalex.org/I78675632","display_name":"Beijing Information Science & Technology University","ror":"https://ror.org/04xnqep60","country_code":"CN","type":"education","lineage":["https://openalex.org/I78675632"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jingsen Huang","raw_affiliation_strings":["School of Information Science and Technology, and the Key Laboratory of Computational Intelligence and Intelligent Systems Beijing University of Technology  Beijing China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Information Science and Technology, and the Key Laboratory of Computational Intelligence and Intelligent Systems Beijing University of Technology  Beijing China","institution_ids":["https://openalex.org/I78675632","https://openalex.org/I37796252"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5053867301"],"corresponding_institution_ids":["https://openalex.org/I37796252","https://openalex.org/I78675632"],"apc_list":{"value":4740,"currency":"USD","value_usd":4740},"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.3660118,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"38","issue":"1","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10502","display_name":"Advanced Memory and Neural Computing","score":0.4131999909877777,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10502","display_name":"Advanced Memory and Neural Computing","score":0.4131999909877777,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.08479999750852585,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.06440000236034393,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.7192000150680542},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.6431999802589417},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5047000050544739},{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.429500013589859},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.4041000008583069},{"id":"https://openalex.org/keywords/bionics","display_name":"Bionics","score":0.38040000200271606},{"id":"https://openalex.org/keywords/navigation-system","display_name":"Navigation system","score":0.38029998540878296},{"id":"https://openalex.org/keywords/sensory-cue","display_name":"Sensory cue","score":0.37770000100135803},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.37689998745918274},{"id":"https://openalex.org/keywords/sensory-system","display_name":"Sensory system","score":0.3630000054836273}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7953000068664551},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.7192000150680542},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.6431999802589417},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5435000061988831},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5047000050544739},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4465000033378601},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.429500013589859},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.4041000008583069},{"id":"https://openalex.org/C91316289","wikidata":"https://www.wikidata.org/wiki/Q189131","display_name":"Bionics","level":2,"score":0.38040000200271606},{"id":"https://openalex.org/C2777891301","wikidata":"https://www.wikidata.org/wiki/Q3475123","display_name":"Navigation system","level":2,"score":0.38029998540878296},{"id":"https://openalex.org/C111370547","wikidata":"https://www.wikidata.org/wiki/Q7451120","display_name":"Sensory cue","level":2,"score":0.37770000100135803},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.37689998745918274},{"id":"https://openalex.org/C94487597","wikidata":"https://www.wikidata.org/wiki/Q11101","display_name":"Sensory system","level":2,"score":0.3630000054836273},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3425000011920929},{"id":"https://openalex.org/C165062768","wikidata":"https://www.wikidata.org/wiki/Q1145644","display_name":"Biomimetics","level":2,"score":0.3337000012397766},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3327000141143799},{"id":"https://openalex.org/C169453685","wikidata":"https://www.wikidata.org/wiki/Q1054066","display_name":"Central pattern generator","level":3,"score":0.3325999975204468},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.32350000739097595},{"id":"https://openalex.org/C2780992000","wikidata":"https://www.wikidata.org/wiki/Q17016113","display_name":"Generator (circuit theory)","level":3,"score":0.323199987411499},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.3127000033855438},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.31029999256134033},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3052000105381012},{"id":"https://openalex.org/C5339829","wikidata":"https://www.wikidata.org/wiki/Q1425977","display_name":"Machine vision","level":2,"score":0.30489999055862427},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.28769999742507935},{"id":"https://openalex.org/C9628104","wikidata":"https://www.wikidata.org/wiki/Q788009","display_name":"Autonomous system (mathematics)","level":2,"score":0.2858000099658966},{"id":"https://openalex.org/C11731999","wikidata":"https://www.wikidata.org/wiki/Q9067355","display_name":"Spiking neural network","level":3,"score":0.28519999980926514},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.28459998965263367},{"id":"https://openalex.org/C135403697","wikidata":"https://www.wikidata.org/wiki/Q796765","display_name":"Proximity sensor","level":2,"score":0.28220000863075256},{"id":"https://openalex.org/C145065098","wikidata":"https://www.wikidata.org/wiki/Q913572","display_name":"Whisking in animals","level":3,"score":0.2712000012397766},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.26260000467300415},{"id":"https://openalex.org/C2778835581","wikidata":"https://www.wikidata.org/wiki/Q2916098","display_name":"Autonomous robot","level":4,"score":0.2614000141620636},{"id":"https://openalex.org/C2776010242","wikidata":"https://www.wikidata.org/wiki/Q4677575","display_name":"Active perception","level":3,"score":0.260699987411499},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.2587999999523163},{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.25760000944137573},{"id":"https://openalex.org/C2983761899","wikidata":"https://www.wikidata.org/wiki/Q604674","display_name":"Robot vision","level":4,"score":0.25699999928474426},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.2563999891281128}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1002/cpe.70467","is_oa":true,"landing_page_url":"https://doi.org/10.1002/cpe.70467","pdf_url":"https://onlinelibrary.wiley.com/doi/pdfdirect/10.1002/cpe.70467","source":{"id":"https://openalex.org/S11065456","display_name":"Concurrency and Computation Practice and Experience","issn_l":"1532-0626","issn":["1532-0626","1532-0634"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Concurrency and Computation: Practice and Experience","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1002/cpe.70467","is_oa":true,"landing_page_url":"https://doi.org/10.1002/cpe.70467","pdf_url":"https://onlinelibrary.wiley.com/doi/pdfdirect/10.1002/cpe.70467","source":{"id":"https://openalex.org/S11065456","display_name":"Concurrency and Computation Practice and Experience","issn_l":"1532-0626","issn":["1532-0626","1532-0634"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Concurrency and Computation: Practice and Experience","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G8309565131","display_name":null,"funder_award_id":"62076014","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4417027646.pdf"},"referenced_works_count":26,"referenced_works":["https://openalex.org/W2009152454","https://openalex.org/W2087861759","https://openalex.org/W2090302437","https://openalex.org/W2091564167","https://openalex.org/W2095360787","https://openalex.org/W2095689449","https://openalex.org/W2113926552","https://openalex.org/W2140886546","https://openalex.org/W2162875422","https://openalex.org/W2167490703","https://openalex.org/W2837716879","https://openalex.org/W2964385500","https://openalex.org/W2999010483","https://openalex.org/W3016260777","https://openalex.org/W3035256751","https://openalex.org/W3106469817","https://openalex.org/W3157151241","https://openalex.org/W3187015788","https://openalex.org/W3197437553","https://openalex.org/W4200396728","https://openalex.org/W4225108568","https://openalex.org/W4249389816","https://openalex.org/W4313007552","https://openalex.org/W4388328682","https://openalex.org/W4399800941","https://openalex.org/W4400770620"],"related_works":[],"abstract_inverted_index":{"ABSTRACT":[0],"Vision":[1],"and":[2,27,48,79,116,124],"LiDAR":[3],"sensors,":[4,20],"though":[5],"widely":[6],"used":[7],"in":[8,13,105,109,114],"robotic":[9,95],"navigation,":[10],"perform":[11],"poorly":[12],"low\u2010visibility":[14,106],"or":[15],"complex":[16],"environments.":[17],"Existing":[18],"tactile":[19,40,70],"despite":[21],"some":[22],"progress,":[23],"lack":[24],"the":[25,68,81,128],"flexibility":[26],"adaptability":[28],"of":[29,73],"biological":[30],"neural":[31,56],"systems.":[32],"This":[33],"paper":[34],"proposes":[35],"a":[36,54,60,89],"novel":[37],"bionic":[38],"whisker":[39],"perception":[41],"system":[42,52,83,97],"that":[43],"demonstrates":[44],"exceptional":[45],"anti\u2010interference":[46],"capability":[47,87],"environmental":[49],"adaptability.":[50],"The":[51,94],"integrates":[53],"spiking":[55],"network":[57],"(SNN)":[58],"with":[59,99,121],"central":[61],"pattern":[62],"generator":[63],"(CPG)":[64],"to":[65],"accurately":[66],"emulate":[67],"active":[69],"sensing":[71],"mechanism":[72],"rodent":[74],"whiskers.":[75],"Based":[76],"on":[77],"SNN":[78],"CPG,":[80],"sensory":[82],"achieves":[84],"noise":[85],"suppression":[86],"through":[88],"dynamic":[90],"neuron":[91],"allocation":[92],"mechanism.":[93],"navigation":[96],"equipped":[98],"this":[100],"module":[101],"can":[102],"operate":[103],"stably":[104],"environments,":[107,118],"even":[108],"complete":[110],"darkness.":[111],"Extensive":[112],"experiments":[113],"simulated":[115],"real\u2010world":[117],"including":[119],"scenes":[120],"low":[122],"lighting":[123],"visual":[125],"failures,":[126],"demonstrate":[127],"system's":[129],"superior":[130],"performance":[131],"by":[132],"robot.":[133]},"counts_by_year":[],"updated_date":"2026-03-11T06:11:40.159057","created_date":"2025-12-05T00:00:00"}