{"id":"https://openalex.org/W3188694765","doi":"https://doi.org/10.1109/iros51168.2021.9636571","title":"A Method to use Nonlinear Dynamics in a Whisker Sensor for Terrain Identification by Mobile Robots","display_name":"A Method to use Nonlinear Dynamics in a Whisker Sensor for Terrain Identification by Mobile Robots","publication_year":2021,"publication_date":"2021-09-27","ids":{"openalex":"https://openalex.org/W3188694765","doi":"https://doi.org/10.1109/iros51168.2021.9636571","mag":"3188694765"},"language":"en","primary_location":{"id":"doi:10.1109/iros51168.2021.9636571","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636571","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101932482","display_name":"Zhenhua Yu","orcid":"https://orcid.org/0000-0001-7548-3869"},"institutions":[{"id":"https://openalex.org/I4210089887","display_name":"Dyson (United Kingdom)","ror":"https://ror.org/00a4npp83","country_code":"GB","type":"company","lineage":["https://openalex.org/I4210089887"]},{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Zhenhua Yu","raw_affiliation_strings":["Dyson School of Design Engineering, Imperial College London, London, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dyson School of Design Engineering, Imperial College London, London, UK","institution_ids":["https://openalex.org/I4210089887","https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076130972","display_name":"S. M. Hadi Sadati","orcid":"https://orcid.org/0000-0002-5862-265X"},"institutions":[{"id":"https://openalex.org/I183935753","display_name":"King's College London","ror":"https://ror.org/0220mzb33","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I183935753"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"S.M. Hadi Sadati","raw_affiliation_strings":["King\u2019s College London, London, U.K","King's College London, London, U.K"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"King\u2019s College London, London, U.K","institution_ids":["https://openalex.org/I183935753"]},{"raw_affiliation_string":"King's College London, London, U.K","institution_ids":["https://openalex.org/I183935753"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048653543","display_name":"Hasitha Wegiriya","orcid":"https://orcid.org/0000-0002-0266-8528"},"institutions":[{"id":"https://openalex.org/I183935753","display_name":"King's College London","ror":"https://ror.org/0220mzb33","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I183935753"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Hasitha Wegiriya","raw_affiliation_strings":["Faculty of Natural and Mathematical Sciences, King\u2019s College London, London, UK","Faculty of Natural and Mathematical Sciences, King's College London, London, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Natural and Mathematical Sciences, King\u2019s College London, London, UK","institution_ids":["https://openalex.org/I183935753"]},{"raw_affiliation_string":"Faculty of Natural and Mathematical Sciences, King's College London, London, UK","institution_ids":["https://openalex.org/I183935753"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074321943","display_name":"Peter Childs","orcid":"https://orcid.org/0000-0002-2465-8822"},"institutions":[{"id":"https://openalex.org/I4210089887","display_name":"Dyson (United Kingdom)","ror":"https://ror.org/00a4npp83","country_code":"GB","type":"company","lineage":["https://openalex.org/I4210089887"]},{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Peter Childs","raw_affiliation_strings":["Dyson School of Design Engineering, Imperial College London, London, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dyson School of Design Engineering, Imperial College London, London, UK","institution_ids":["https://openalex.org/I4210089887","https://openalex.org/I47508984"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5060656142","display_name":"Thrishantha Nanayakkara","orcid":"https://orcid.org/0000-0002-1882-1232"},"institutions":[{"id":"https://openalex.org/I4210089887","display_name":"Dyson (United Kingdom)","ror":"https://ror.org/00a4npp83","country_code":"GB","type":"company","lineage":["https://openalex.org/I4210089887"]},{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Thrishantha Nanayakkara","raw_affiliation_strings":["Dyson School of Design Engineering, Imperial College London, London, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dyson School of Design Engineering, Imperial College London, London, UK","institution_ids":["https://openalex.org/I4210089887","https://openalex.org/I47508984"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"8437","last_page":"8443"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9757000207901001,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9757000207901001,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T10244","display_name":"Chaos control and synchronization","score":0.9728000164031982,"subfield":{"id":"https://openalex.org/subfields/3109","display_name":"Statistical and Nonlinear Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12611","display_name":"Neural Networks and Reservoir Computing","score":0.9703999757766724,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.7680354118347168},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.617614209651947},{"id":"https://openalex.org/keywords/vibration","display_name":"Vibration","score":0.5598844289779663},{"id":"https://openalex.org/keywords/whisker","display_name":"Whisker","score":0.5547540783882141},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5509940981864929},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5476793050765991},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4925445020198822},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.44276943802833557},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3881189823150635},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.37476053833961487},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3229783773422241},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.22942376136779785},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.19932669401168823},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.07883694767951965}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.7680354118347168},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.617614209651947},{"id":"https://openalex.org/C198394728","wikidata":"https://www.wikidata.org/wiki/Q3695508","display_name":"Vibration","level":2,"score":0.5598844289779663},{"id":"https://openalex.org/C179111330","wikidata":"https://www.wikidata.org/wiki/Q901525","display_name":"Whisker","level":2,"score":0.5547540783882141},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5509940981864929},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5476793050765991},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4925445020198822},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.44276943802833557},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3881189823150635},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.37476053833961487},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3229783773422241},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.22942376136779785},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.19932669401168823},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.07883694767951965},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C191897082","wikidata":"https://www.wikidata.org/wiki/Q11467","display_name":"Metallurgy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros51168.2021.9636571","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636571","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:spiral.imperial.ac.uk:10044/1/90608","is_oa":false,"landing_page_url":"http://hdl.handle.net/10044/1/90608","pdf_url":null,"source":{"id":"https://openalex.org/S4306401396","display_name":"Spiral (Imperial College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I47508984","host_organization_name":"Imperial College London","host_organization_lineage":["https://openalex.org/I47508984"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"Conference Paper"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G24559435","display_name":null,"funder_award_id":"EP/N03211X/2","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G5703311405","display_name":null,"funder_award_id":"EP/T00603X/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G7598418738","display_name":null,"funder_award_id":"EP/N029003/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320322725","display_name":"China Scholarship Council","ror":"https://ror.org/04atp4p48"},{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1484387568","https://openalex.org/W1525595943","https://openalex.org/W1787260391","https://openalex.org/W2002111712","https://openalex.org/W2008179589","https://openalex.org/W2032764159","https://openalex.org/W2095689449","https://openalex.org/W2143825860","https://openalex.org/W2153316689","https://openalex.org/W2170545853","https://openalex.org/W2268464208","https://openalex.org/W2566228836","https://openalex.org/W2620913710","https://openalex.org/W2750751986","https://openalex.org/W2774787870","https://openalex.org/W2837716879","https://openalex.org/W2984606680","https://openalex.org/W3003964794","https://openalex.org/W3022606092","https://openalex.org/W3100560308","https://openalex.org/W3105757741"],"related_works":["https://openalex.org/W2211124859","https://openalex.org/W1939862770","https://openalex.org/W3213331859","https://openalex.org/W4226458444","https://openalex.org/W4390637946","https://openalex.org/W4226082913","https://openalex.org/W2113164274","https://openalex.org/W2132444301","https://openalex.org/W2122871747","https://openalex.org/W3114279067"],"abstract_inverted_index":{"This":[0,108],"paper":[1],"shows":[2],"analytical":[3],"and":[4,65,104],"experimental":[5],"evidence":[6],"of":[7,12,24,61,78,101],"using":[8],"the":[9,42,48,57,62,99,102,105],"vibration":[10,79],"dynamics":[11,85],"a":[13,25,115],"compliant":[14],"whisker":[15,36,49],"for":[16,130],"accurate":[17],"terrain":[18,106,133],"classification":[19],"during":[20],"steady":[21,87],"state":[22],"motion":[23],"mobile":[26,63],"robot.":[27],"A":[28],"Hall":[29],"effect":[30],"sensor":[31],"was":[32],"used":[33,113],"to":[34,39,82,98,121],"measure":[35],"vibrations":[37,50],"due":[38,81],"perturbations":[40],"from":[41,76],"ground.":[43],"Analytical":[44],"results":[45,90],"predict":[46],"that":[47],"will":[51],"have":[52],"one":[53,66],"dominant":[54,94],"frequency":[55,60,69,72,80,95],"at":[56,86],"vertical":[58],"perturbation":[59],"robot":[64,103],"with":[67,135],"distinct":[68,93],"components.":[70],"These":[71],"components":[73,96],"may":[74],"come":[75],"bifurcation":[77],"nonlinear":[83,109],"interaction":[84],"state.":[88],"Experimental":[89],"also":[91],"exhibit":[92],"unique":[97],"speed":[100],"roughness.":[107],"dynamic":[110],"feature":[111],"is":[112],"in":[114],"deep":[116],"multi-layer":[117],"perceptron":[118],"neural":[119],"network":[120],"classify":[122],"terrains.":[123],"We":[124],"achieved":[125],"85.6%":[126],"prediction":[127],"success":[128],"rate":[129],"seven":[131],"flat":[132],"surfaces":[134],"different":[136],"textures.":[137]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}
