Mechanical Sensing in Embodied Agents

Abstract

Abstract Sensors enable autonomous systems to obtain information about their internal states and the environment for guiding their actions. It is as essential for these sensors to reject disturbances as to gather the correct information. There are numerous trade-offs and considerations in designing these sensory systems. For instance, natural agents evolved a vast diversity of highly optimized sensory organs to perform their tasks. This work focuses on how these sensory systems estimate mechanical stimuli. We look at some of the strategies and design principles found in nature to understand fundamental trade-offs and design considerations when acquiring and processing mechanical information.