While autonomous robots commonly rely on vision-based systems for navigation, their ability to physically interact with their environment through tactile perception remains a significant challenge. Inspired by the sensory whiskers of animals, this study introduces a novel, bio-inspired tactile antenna designed to provide continuous force feedback. This enables the robot to perceive and physically interact with its surroundings. A specialized fuzzy logic control (FLC) strategy was designed to utilize this force feedback as a primary input. The developed FLC processes the tactile information through a set of expertly defined rules to generate commanded angular velocities for the robot’s wheels. This mechanism allows the robot to maintain a stable and smooth wall-following trajectory along various wall geometries, including straight, cornered, and curved paths. The effectiveness and robustness of the proposed system are validated through both simulations and real-world experiments. The findings suggest that this bio-inspired tactile sensing modality offers a promising solution for autonomous navigation in complex and confined spaces, laying the foundation for robots capable of exploring dark or obscured environments, such as surveying caves, underwater spaces, or performing search-and-rescue missions in collapsed structures.