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。

Profile Detection Based on the Novel Whisker Sensor

Rodents are able to easily detect the profile of an object in the surroundings with their whiskers, and this presents us a novel method for identifying objects in the mobile robots. Following the basic design of the follicle of the rodents 'whisker, a novel whisker sensor is designed. The sensor is composed of the two dimensional PSD as its sensing element and mounted on mobile robot. By measuring the micro-displacement of the whisker's root, the robot is able to recognize the profile of objects detected, A contrast experiment is achieved for the cylindrical and prism samples, its results indicate that the profile of objects can be detected with the whisker sensor of the mobile robot.