基于胡须传感器的仿生机器人研究进展

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杨忠, 樊琼剑. 基于胡须传感器的仿生机器人研究进展[J]. 机器人, 2007, 29(2): 171-178.. YANG Zhong, FAN Qiong-jian. Research Advances of Biomimetic Robot Based on Whisker Sensor. ROBOT, 2007, 29(2): 171-178..

摘要在简要分析动物胡须的感知机理及其电路实现原理的基础上，着重介绍了国内外仿生胡须机器人的研究现状．分析了仿生胡须传感器几个关键性的研究问题，如胡须材料的研制问题、胡须触觉传感器的探测精度和制造工艺问题、胡须触觉传感器特有的控制算法等问题，并给出了研究中存在的不足及其相应的发展趋势．

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	杨忠
	樊琼剑

关键词 ：仿生技术, 胡须机器人, 触觉, 行为控制体系, 仿生材料

Abstract：The whisker tactile mechanism of animals and the principle of its circuit implementation are briefly analyzed,and the research status of biomimetic whisker robots at home and abroad are introduced.Several important problems,such as whisker material development,exploration precision,manufacturing technology and control algorithms of whisker tactile sensors,are discussed,and the development trends are forecasted.

Key words： biomimetic technology whisker robot tactile sense behavior control system biomimetic material

收稿日期: 2006-06-25

TP24

作者简介: 杨忠（1969- ），男，博士，副教授．研究领域：导航制导与控制，机器人仿生，复杂嵌入式系统设计．
樊琼剑（1973- ），女，博士生．研究领域：控制理论与控制工程．

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https://robot.sia.cn/CN/ 或 https://robot.sia.cn/CN/Y2007/V29/I2/171

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