CAJ | 학술논문

为了增强机器人对未知环境的感知与识别能力,设计了一种基于霍尔效应的仿生触须传感器.针对该传感器建立了触须感知模型,并在此基础上进行仿真实验,分析触须轴的不同材质和长度对触须传感器感知结果的影响.同时,提出了可通过触须的偏转幅度来估计目标物距离和角度位置的被动和主动感知方法.实验结果表明:利用该触须传感器能够快速、准确地感知外界环境信息.
위료증강궤기인대미지배경적감지여식별능력,설계료일충기우곽이효응적방생촉수전감기.침대해전감기건립료촉수감지모형,병재차기출상진행방진실험,분석촉수축적불동재질화장도대촉수전감기감지결과적영향.동시,제출료가통과촉수적편전폭도래고계목표물거리화각도위치적피동화주동감지방법.실험결과표명:이용해촉수전감기능구쾌속、준학지감지외계배경신식.
An inductive biominetic whisker sensor based on Hall-effect is designed to enhance the environment sensing and discriminating ability of robots. The perception model of this sensor is established, and the influence of the different materials and lengths of the whisker on experimental results is analyzed by simulation experiments. Passive and active sensing methods are also provided which can evaluate the distance and angles of the object with the deflection amplitudes information measured by whisker sensors. Experimental results reveal that with this whisker sensor robots can percept the environment fleetly and exactly.