期刊
ADVANCED ROBOTICS
卷 29, 期 22, 页码 1437-1452出版社
TAYLOR & FRANCIS LTD
DOI: 10.1080/01691864.2015.1069210
关键词
amphibious mobile robot; touching sensor; bioinspired; design
类别
资金
- National Natural Science Foundation of China [51421062, 61175097, 51475177]
- Doctoral Fund of Ministry of Education of China [20110142130010]
- Key Research Plan of Ministry of State Security of China [2011ZDYJHJXY012]
An amphibious mobile robot relies on effective sensing ability to adapt itself in complicated amphibious environments. In this paper, we present a multifunctional whisker-like touching sensor with low energy consumption, inspired by amphibious animals. The sensor comprises a leverage system and a two-dimensional position tracing system, transforming the moving position of biowhisker to a changing laser spot coordinates. On land, the sensor driven by a motor is able to track the movement of biowhisker directly, telling the change of contact position, to sense nearby objects and explore their surface by touching. In underwater environment, the sensor can obtain in real-time external flow direction and velocity by passive impulsion. Testing results showed that our prototype can sense flow or drag force direction in 360 degrees exactly, and tell flow velocity under 1m/s, it can also recognize line or arc edges of obstacle correctly by touching.
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