Multifunctional Whisker Arrays for Distance Detection, Terrain Mapping, and Object Feature Extraction *

Abstract: Several species of animals use whiskers to accurately navigate and explore objects in the absence of vision. We have developed inexpensive arrays of artificial whiskers based on strain-gage and Flex Sensor technologies that can be used either in passive (“dragging”) mode, or in active (“whisking”) mode. In the present work we explore the range of functions that whisker arrays can serve on a rover. We demonstrate that when mounted on a rover, whisker arrays can (1) Detect obstacles and determine obstacle distance (2) Map terrain features (3) Determine ground and surface texture (4) Provide an estimate of rover speed (5) Identify “slip ” of the rover wheels, and (6) Perform 3dimensional extraction of object shape. We discuss the potential use of whisker arrays on planetary rovers and as an investigative tool for exploring the encoding of sensory information in the nervous system of animals. Index Terms – vibrissa, whisker, tactile, rat, somatosensory I