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Martin J. Pearson, Ben Mitchinson, Jason Welsby, Tony Pipe, Prescott TJ.  2010.  SCRATCHbot: Active Tactile Sensing in a Whiskered Mobile Robot. From Animals to Animats 11. 6226/2010
Martin J. Pearson, Chris Melhuish, Ben Mitchinson, Prescott TJ.  2007.  Whiskerbot: A Robotic Active Touch System Modeled on the Rat Whisker Sensory System. Adaptive Behavior 15: 223-240, . 15