摘要
为模仿动物触须对环境的敏锐感知能力,设计了一种感应式仿生触须传感器,并开展实验研究。该传感器以线性霍尔为敏感元件,以细不锈钢丝为触须材料并固定小磁钢,用以测量作用在触须尖端的刺激作用。讨论了触须传感器的工作原理,分析了传感器特性。试验表明:该传感器具有良好的静态与动态性能,且输出能充分反映被扫描物体的形状、尺寸和表面特征,可用于物体形态与表面纹理的有效识别和机器人自主避障。
An inductive biominetic whisker sensor is designed and experimented to imitate the exquisite environment sensing ability of animal whiskers. The sensor takes linear Hall as its sense organs and a stainless steel string,which is attached with small alnicos,as its whisker material to measure stimuli acting upon the tip of whisker. The principle and properties of whisker sensors are discussed and analyzed. Experimental results show that the sensor has favorable static and dynamic characteristics, and its output can adequately reflect the shapes, sizes and surface features of scanned objects, so it is suitable for the recognition of object profiles and surface textures, and can be applied in robot autonomous obstacle avoidance.
出处
《传感器与微系统》
CSCD
北大核心
2008年第2期49-52,共4页
Transducer and Microsystem Technologies
