集成触觉传感器阵列

触觉传感器可以探测到被接触物体的状态、图象、硬度等信息,是机器人操作和控制的基础。本文介绍了触觉传感器的信息构成、集成触觉传感器的阵列结构及信号处理系统,指出了在集成触觉传感器研究中亟待解决的问题。     

基于Residual Networks的新型触觉传感器接触状态感知与识别

基于触觉信息识别不同接触状态对于人机交互的实现具有重要意义。本文提出一种基于残差网络(Residual Networks) 识别触觉传感器不同接触状态的方法。基于弹性体模板法制备了一款具有良好触觉感知能力的多孔石墨烯柔性触觉传感器。利用该触觉传感器采集了4种不同接触状态(拍打、重击、抚摸、推压)的时间序列数据,并对采集到的数据进行z-score标准化操作以及降采样处理。在此基础上,构建具有良好自适应性和泛化能力的Residual Networks模型对施加于该触觉传感器表面的4种接触状态进行分类识别,识别准确率为97.50%。实验结果表明：本文设计的多孔石墨烯柔性触觉传感器柔弹性好、灵敏度高、响应速度快,能够有效感知不同状态的接触力,Residual Networks模型可以高效地用于触觉传感器接触状态的分类识别。     

一种新型机器人三维力柔性触觉传感器的设计

基于柔性力敏导电橡胶材料,设计了一种能测量三维力的新型机器人柔性触觉传感器。研究了力敏导电橡胶材料的压阻效应,阐述了触觉传感器的设计思想,分别进行了触觉传感器单元设计和阵列结构设计和研究。获得了计算三维力的数学模型,并通过实验进行了三维力的验证。结果表明,设计的机器人三维力柔性触觉传感器具有设计简单,造价低廉,柔顺性好等优点,而且布置成阵列结构可用于医疗、体育、机器人等领域中检测三维力信息。     

面向ERT大面积触觉传感的自适应优化成像方法

在动态的非结构化环境中,有效地感知物理接触对于智能机器人安全交互至关重要。为了能够检测各种潜在的物理交互,需要在机器人表面部署大面积触觉传感器。目前,现有的大面积触觉传感器主要是通过传感阵列方式实现的,但是大规模部署传感元件在实际应用中存在巨大挑战。电阻层析成像（Electrical Resistance Tomography,ERT）技术作为一种连续传感方式,有望克服传统触觉传感阵列的一些限制。为此,利用ERT设计了一款新型的大面积触觉传感器。在此基础上,提出了一种基于自适应感兴趣区（Region of Interest,ROI）的图像重构算法,将图像重构限制在交互区域内,以提高传感器的空间分辨率。为了验证提出成像算法的有效性,通过仿真与物理实验对其进行了全面评估。实验验证了该算法可以有效提高触觉传感器在交互区域的空间分辨率,使其具有较高的测量精度。实验结果表明,该传感器的平均定位误差为0.823 cm,能够准确地识别8种不同交互模式,其精度高达98.6%。这一研究工作表明,该传感器为机器人具身触觉传感的实现提供了一个新的解决方案。     

机器人用的一种触觉传感器

触觉传感器在未来的工业机器人系统中有着很大应用潜力。最初,用作触觉传感器的仅是微动开关与应变测量仪之类的元件。可是,近二年来太多趋向于采用具有一组元件的平面阵列型触觉传感器。它与被测物体接触,就可以测出物体的各种物理特性,例如物体的大小和形状,导热性,多孔性等,其中接触压力就是直接说明这些物理特性的基本信息源。     

欧盟着力机器人手触觉传感技术研究

正由英国伯明翰大学科技人员领导的欧洲多学科NANOBIOTOUCH研发团队,正在开展机器人手触觉传感技术的神经与心理物理学基础研究,旨在通过从单个神经元提供实验数据的机器人学习算法到机器人手触摸物体表面的触觉反应,实现机器人手触觉传感技术的突破及机器人手指尖触觉的自我学习认知技能。     

基于FBG的机器人柔性触觉传感器

为了满足机器人与外界环境、对象发生接触及交互作用时的触觉感知需求,提出了一种基于光纤布拉格光栅（FBG）的柔性触觉传感器．该传感器采用3×3 FBG阵列作为柔性传感元件,聚二甲基硅氧烷（PDMS）材料构成双层柔性基体．介绍了传感器的传感原理并采用有限元方法对其弹性体进行力学仿真分析,基于标定实验平台完成该传感器的静态标定实验．传感器的空间分辨率为25mm,在10mm×10mm载荷施加单元下,对力的感知范围为0～7N,且传感器具有较好的线性度和灵敏度,重复性和一致性良好,力灵敏度为0.16nm/N．实验结果和分析研究都证明了柔性触觉传感器的可行性．该传感器与人体皮肤触感及结构极为相似,且布线简单、抗干扰能力强．     

阵列式传感器的触觉图像识别技术

通过对安装于机器人手爪上的半导体应变式阵列触觉传感器系统所采集到的触觉图像的分析,提出了基于模糊聚类原理的触觉图像统计特征识别技术。通过分析像素灰度矩阵信息,提取图像独立的统计特征量,建立相应的图像统计特征模型空间;由此,计算出各图像类的模糊相似系数矩阵,再运用聚类分析法将其改造成为模糊等价矩阵,划分出图像等价类,进而实现对目标图像的识别;实验结果表明,该方法能获得分布压、接触总力等信息,并能达到很好的触觉图像识别效果。     

基于随机共振的机器人二值化触觉传感器降噪方法

机器人触觉传感器由于测量机理、敏感元件、维间耦合干扰、读取电路噪声等多方面的原因,存在着较强的干扰噪声,这种噪声对触觉信号的二值化过程带来了严重影响,本文首次利用非线性系统的随机共振现象,对机器人触觉传感器的二值化过程进行优化,从而实现二值化触觉传感器的降噪,实验结果证明了本方法的有效性。     

虚拟触觉传感器的仿真模型研究

本文根据真实触觉传感器的原理,对虚拟触觉传感器的仿真模型进行了研究,以便 在机器人手抓拾取操作中揭示与材料特性相关的触觉信息瞬态特性,进而为在虚拟环境中从 事基于传感信息的机器人柔性操作、精密装配操作等提供良好的研究平台．     

一种具有力觉触觉临场感的主从机器人装配作业平台

本文介绍了一种具有力觉触觉临场感的主从机器人系统，该系统以改造后的PUMA手 作为从手，和主手一起构成异构主从手，实现了力觉触觉临场感以及对工件的自动识别和抓 取等功能，其中对PUMA手的改造以开放性作为改造的主要目的，以期能为多种传感器的集成 提供一个开放式的机器人装配作业平台．     

移动机器人超声波避碰传感器系统设计

为了避免移动机器人在行进过程中与障碍物发生碰撞，设计了一种基于LPC2119微控制器的超声波避碰传感器系统。文章首先介绍了超声波发射电路、回波电压放大电路和检测电路的设计方法；巧妙地应用74HC154的简单电路实现了多路超声波信号的循环发射；利用LM567实现了锁相环回波检测电路，针对超声波传感器之间的回波干扰，提出了一种有效的解决方案；最后根据实验测量结果，应用最小二乘法得到了距离补偿公式，在移动机器人运行的过程中，该系统实时地循环检测机器人周围的障碍物信息，有效地避免了碰撞现象的发生。     

Development of soft and distributed tactile sensors and the application to a humanoid robot

This paper describes a comprehensive tactile sensor system which can cover wide areas of full-body robots. Based on design criteria which are introduced from requirements, we develop two types of tactile sensor elements. One is a multi-valued touch sensor which has multi-level pressure thresholds. It is capable of covering wide areas of robot surfaces. The other is made of soft, conductive gel, which has the advantage of compliance compared with other sheet-type tactile sensors. With these two types sensors, we develop the tactile sensor system on the full-body robot 'H4'. Details of the sensor system on the robot and some experiments using tactile information are described.     

Four-legged intelligent mobile autonomous robot

This paper presents the design and development of a four-legged mobile robot with intelligent sensing and decision-making capabilities. Multiple sensors with embedded knowledge bases and learning capabilities are used in a novel approach towards environmental perception and reaction. These sensors continuously monitor the environment as well as their own operating parameters. Priority is given to any one or a group of sensors based on prevailing environmental conditions. Intelligent sensing is shown to be the key towards a high degree of autonomy for a mobile robot. Nicknamed Flimar, this robot has the ability to function at varying degrees of intelligence made possible by an object-oriented architecture with embedded intelligence at various levels. This architecture is shown to be conducive towards incremental learning. Each of the four legs has three degrees of freedom, i.e. Flimar has a total of 12 motors on its four legs. Flimar can walk and turn without dragging or skidding, and also turns about its center of gravity with a zero radius. Flimar responds to light, sound and touch in different ways, based on prevailing environmental conditions. The overall goal of the paper is to present a novel walking principle and control architecture for a walking robot.     

一种低功耗程控滤波器的设计

针对目前移动机器人同时定位与地图创建(SLAM)研究中多采用激光雷达或超声环作为测距传感器导致系统复杂、成本高的问题,提出了一种利用舵机带动单超声传感器扫描的低成本设计方案。在高斯超声模型基础上,利用贝叶斯公式对栅格地图进行概率更新,并结合Sobel边缘检测算法提取特征点,实现了由不确定的移动机器人坐标系向固定的以环境特征点为原点的全局环境坐标系的转换及全局定位,为在相同环境下通过重复实验进行多地图融合研究奠定了基础。该低成本移动机器人设计的有效性通过实验得以验证。     

Learning about natural human–robot interaction styles

If we are to achieve natural human–robot interaction, we may need to complement current vision and speech interfaces. Touch may provide us with an extra tool in this quest. In this paper we demonstrate the role of touch in interaction between a robot and a human. We show how infrared sensors located on robots can be easily used to detect and distinguish human interaction, in this case interaction with individual children. This application of infrared sensors potentially has many uses; for example, in entertainment or service robotics. This system could also benefit therapy or rehabilitation, where the observation and recording of movement and interaction is important. In the long term, this technique might enable robots to adapt to individuals or individual types of user.     

Stability analysis of a simple walking model driven by an oscillator with a phase reset using sensory feedback

This paper deals with the analytical examination of the dynamic properties of the walking motion of a biped robot based on a simple model. The robot is driven by rhythmic signals from an oscillator, which receives feedback signals from touch sensors at the tips of the legs. Instantly, the oscillator resets its phase and modifies the walking motion according to the feedback signals. Based on such a simple model, approximate periodic solutions are obtained, and the stability of the walking motion is analytically investigated by using a Poincare/spl acute/ map. The analytical results demonstrate that the modification of the step period and the walking motion due to the sensory feedback signals improves the stability of the walking motion.     

红外传感器在教育机器人避障电路设计中的应用

红外传感器在家用电器遥控和机器人避障方面有着广泛的应用,笔者根据红外传感器的这一特性设计出一款教育机器人避障电路,介绍了红外传感器在机器人避障电路中的应用,给出红外传感器与单片机系统的硬件接口电路和避障软件的编程思路,并通过测试,得出了影响红外传感器避障的相关因素,并提出了改进的方法和措施.     

A system for self-diagnosis of an autonomous mobile robot using an internal state sensory system: fault detection and coping with the internal condition

Considering that intelligent robotic systems work in a real environment, it is important that they themselves have the ability to determine their own internal conditions. Therefore, we consider it necessary to pay some attention to the diagnosis of such intelligent systems and to construct a system for the self-diagnosis of an autonomous mobile robot. Autonomous mobile systems must have a self-contained diagnostic system and therefore there are restrictions to building such a system on a mobile robot. In this paper, we describe an internal state sensory system and a method for diagnosing conditions in an autonomous mobile robot. The prototype of our internal sensory system consists of voltage sensors, current sensors and encoders. We show experimental results of the diagnosis using an omnidirectional mobile robot and the developed system. Also, we propose a method that is able to cope with the internal condition using internal sensory information. We focus on the functional units in a single robot system and also examine a method in which the faulty condition is categorized into three levels. The measures taken to cope with the faulty condition are set for each level to enable the robot to continue to execute the task. We show experimental results using an omnidirectional mobile robot with a self-diagnosis system and our proposed method.