机器人触须传感器的设计

提出了一种利用触须来识别物体表面轮廓的新方法。传感器采用了二维PSD作为敏感元件,实时地测量由于与物体接触在触须根部所产生的微小位移量。介绍了机器人触须传感器具体的结构及工作原理。由实验数据可知,触须根部位移量的大小与接触的距离成反比,且距离越近位移量变化的速度越快。由此可获得待测物体的位置、距离、角度等信息。     

一种感应式仿生触须传感器

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。     

电容式仿生触须传感器的设计与试验

为模拟动物触须所具有的非常敏锐的环境感知能力,设计了一种电容式仿生触须传感器并开展试验研究。该传感器以电容式微音器为敏感元件,以光纤为触须材料,用以测量作用在触须尖端的微弱刺激信号。讨论了触须传感器的工作原理,进行了传感器结构和信号调理电路设计,分析了传感器特性。试验研究表明:该仿生触须传感器具有良好的重复性、静态特性和线性度,能充分反映被扫描物体的表面特征,可用于物体形态和表面纹理的有效识别及机器人自主运动避障。     

基于新型触须传感器的外形检测

啮齿类动物利用触须能够很好地识别外部对象的轮廓，为移动机器人识别被测物体提供了新的思路。借鉴啮齿动物触须的毛囊结构，设计了一种新型触须传感器，传感器采用二维PSD作为敏感元件。此传感器安装在移动机器人上，通过测量触须根部产生的微小位移量，来识别被测物体的外形轮廓。完成了圆柱体和棱柱体样件的对比实验，证明利用该触须传感器移动机器人能够识别出外部对象的轮廓。     

基于触须传感器的风速测量研究

动物触须能够很好地感知外部环境,包括气流的信息.借鉴动物触须系统,用PSD作为位置检测元件设计了触须传感器以弥补现有风速测量装置存在的不足,并将其用于风速测量实验.将触须传感器置于不同强度以及不同方向的风速场中进行实验,结果表明,触须传感器不仅能够很好地测量风速的大小,而且在测量风速方向方面也具有很好的效果.     

物体摆动轨迹的实时跟踪

介绍了通过自行设计的编码光栅、光纤传感器、实时跟踪测量物体摆动的过程 ,给出了一套新颖的物体摆动实时测量解决方案。并已投入现场测试 ,能够满足测试要求。     

一种基于位置敏感元件的物体位置检测系统

为满足对物体对象的非接触、高精度快速测量定位需要,在分析了目前位置检测技术的基础上,利用一维位置敏感元件(PSD)设计了一种物体位置检测系统,详细介绍了PSD位置检测的原理,通过单片机实现了对物体对象位置信号的采集处理,并把结果显示在上位机中;结果表明,整个检测系统响应速度较快、测试精度较高,可以达到±5%,实现了对物体对象的非接触精确测量定位,可应用于对精度要求较高的各种精密测试领域。     

非接触物体尺寸形态测量系统

非接触测量物体尺寸和形态有着很广泛的应用前景,尤其在人工智能领域,信号需要快速获取和处理.本文详细阐述了一种非接触物体尺寸形态测量系统的设计、实现以及结论.在非接触物体尺寸形态测量系统中,OpenMV用于识别目标物体,并测量与目标物体的距离;二维舵机云台用来增加系统的自由度.该系统测量精准、所用时间短,为非接触式测量的...     

仿盲人摸巷机理的机器人导航方法分析

根据“盲人摸巷”及昆虫“用须探物”的启发,结合物体接触后能产生力的特性,提出基于接触交互信息的机器人导航方法,移动机器人与环境的接触力感觉来自移动机器人的触须,该触须可以是2个多自由度机械臂,其末端装有多维力传感器,或由弹性材料特制而成,达到完成探测、自我定位及局部路径规划任务的目标,是应用图像、光、电磁、声等原理的现有导航方法的很好补充。     

一种用于水下机器人的触沉传感器研究

本文论述了一种用于水下作业机械手的机器人触觉传感器的结构及工作原理，这种传感器的开关类似于水下生物的“触须”，能够在４个方位上判别与对象接触的位置及接触长度，对于其他形式的机械同样适用。     

Three-dimensional contact imaging with an actuated whisker

Contact sensors can provide high-information-density object surface sensing in harsh and/or opaque environments. This paper describes the design, modeling, control, and data processing of a contact imager consisting of a flexible whisker mounted on a two-axis robot through a load cell. The whisker sweeps around and into contact with unknown objects, determining the three-dimensional location of contact points to within a specified position resolution. During contact, the whisker bends along the surface normal, producing large deflections. The joint angles and load cell signals are numerically processed to determine the whisker shapes. Comparison of whisker shapes during bending determines contact point location. Experimental results for several objects with wide ranging surface curvature and roughness demonstrate 1.51-cm resolution for a 45.5-cm whisker.     

Towards hierarchical blackboard mapping on a whiskered robot

The paradigm case for robotic mapping assumes large quantities of sensory information which allow the use of relatively weak priors. In contrast, the present study considers the mapping problem for a mobile robot, CrunchBot, where only sparse, local tactile information from whisker sensors is available. To compensate for such weak likelihood information, we make use of low-level signal processing and strong hierarchical object priors. Hierarchical models were popular in classical blackboard systems but are here applied in a Bayesian setting as a mapping algorithm. The hierarchical models require reports of whisker distance to contact and of surface orientation at contact, and we demonstrate that this information can be retrieved by classifiers from strain data collected by CrunchBot’s physical whiskers. We then provide a demonstration in simulation of how this information can be used to build maps (but not yet full SLAM) in an zero-odometry-noise environment containing walls and table-like hierarchical objects.     

Decentralized adaptive coordinated control of multiple robot arms without using a force sensor

This paper presents a distributed adaptive coordinated control method for multiple robot arms grasping a common object. The cases of rigid contact and rolling contact are analyzed. In the proposed controller, the dynamic parameters of both object and robot arms are estimated adaptively. The desired motions of the robot arms are generated by an estimated object reference model. The control method requires only the measurements of the positions and velocities of the object and robot arms, but not the measurements of forces and moments at contact points. The asymptotic convergence of trajectory is proven by the Lyapunov-like Lemma. Experiments involving two robot arms handling a common object are shown.     

Tracking control for an object in pushing operation

In this paper, we consider the problem of making a manipulator push an object on a flat floor with a point of contact to a desired position. A manipulator control method for the object to follow a planned trajectory is proposed. First, using the given distribution of frictional forces between the object and the floor, we find a particular point, named pseudo center, on which the motion of the pushed object can be approximated by the motion of a wheeled mobile robot on its center. Then, a control rule for the pushing operation is derived by applying a tracking control rule for a nonholonomic mobile robot at the pseudo center. This method makes it possible for the robot to perform the tracking control in the pushing operation. A simulation result shows the effectiveness of the proposed method. Finally, we present an approach for using a mobile manipulator to realize the pushing operation. Experimental verification of the proposed method was performed and the result is described. ©1997 John Wiley & Sons, Inc.     

Artificial Whiskers Suitable for Array Implementation: Accounting for Lateral Slip and Surface Friction

The exquisite tactile sensing ability of biological whiskers has recently led to increasing interest in constructing robotic versions with similar capabilities. Tactile extraction of three-dimensional (3-D) object shape poses several unique challenges that have only begun to be addressed. The present study develops a method for estimating the contact location of a robotic whisker rotating against an object based on small changes in moment at the whisker base. Importantly, the method accounts for lateral slip as well as surface friction, making it particularly well suited for implementation on an array of robotic whiskers. Array implementation would permit simultaneous extraction of multiple contact points and enable highly parallel, efficient 3-D object feature extraction. A simple, scalable array design is suggested to fulfill this approach.      

Object handling control among two-wheel robots and a human operator: An empirical approach

This article presents object handling control between two-wheel robot manipulators, and a two-wheel robot and a human operator. The two-wheel robot has been built for serving humans in the indoor environment. It has two wheels to maintain balance and is able to make contact with a human operator via an object. A position-based impedance force control method is applied to maintain stable object-handling tasks. As the human operator pushes and pulls the object, the robot also reacts to maintain contact with the object by pulling and pushing against the object to regulate a specified force. Master and slave configuration of two-wheel robots is formed for handling an object, where the master robot or a human leads the slave robot equipped with a force sensor. Switching control from position to force or vice versa is presented. Experimental studies are performed to evaluate the feasibility of the object-handling task between two-wheel mobile robots, and the robot and a human operator.     

图像识别的机器手抓握滑移检测系统开发

为实现机器手抓握物体时不发生脱落,首先应检测其与被抓握物体接触面上的滑移信号.提出一种基于图像识别的机器手抓握滑移检测方法,采用中心区域匹配思想的归一化互相关算法(NCC)匹配由视觉传感器实时采集到的被抓握物体表面图像,得到被抓握物体在采集图像期间的滑移情况.实验结果表明:此系统可以准确检测被抓握物体是否发生滑移及滑移的方向和大小,具有高准确度、高灵敏度等优点.     

Fast grasping of unknown objects through automatic determination of the required number of mobile robots

In this paper, we present a strategy for fast grasping of unknown objects by mobile robots through automatic determination of the number of robots. An object handling system consisting of a Gripper robot and a Lifter robot is designed. The Gripper robot moves around an unknown object to acquire partial shape information for determination of grasping points. The object is transported if it can be lifted by the Gripper robot. Otherwise, if all grasping trials fail, a Lifter robot is used. In order to maximize use of the Gripper robot’s payload, the detected grasping points that apply the largest force to the gripper are selected for the Gripper robot when the object is grasped by two mobile robots. The object is measured using odometry and scanned data acquired while the Gripper robot moves around the object. Then, the contact point for calculating the insert position for the Lifter robot can be acquired quickly. Finally, a strategy for fast grasping of known objects by considering the transition between stable states is used to realize grasping of unknown objects. The proposed approach is tested in experiments, which find that a wide variety of objects can be grasped quickly with one or two mobile robots.