一种仿生触须传感器的设计与分析

摘要

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.%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.