Dynamical Wall Following for a Wheeled Robot Using a Passive Tactile Sensor
Dynamical Wall Following for a Wheeled Robot Using a Passive Tactile Sensor
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DOI：
10.1109/robot.2005.1570706
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发表时间：
2005-04
期刊：
影响因子：
--
通讯作者：
Andrew G. Lamperski;O. Loh;Brett L. Kutscher;N. Cowan
中科院分区：
文献类型：
--
作者：
Andrew G. Lamperski;O. Loh;Brett L. Kutscher;N. Cowan
来自触角的反馈--长而灵活的触觉传感器--使蟑螂和其他节肢动物能够在光线不佳和杂乱的环境中快速移动。受它们性能的启发，我们利用触觉天线反馈为动态轮式机器人创建了一种跟随墙壁的控制器。结果表明，该控制器在较宽的控制增益和机器人系统参数范围内是稳定的。为了测试控制器，我们构造了一个使用电位器和电容式接触传感器的两链天线。基于原型的实验表明，我们的控制器能够鲁棒地跟踪-60°到+900°范围内的意外拐角。
Feedback from antennae - long, flexible tactile sensors - enables cockroaches and other arthropods to rapidly maneuver through poorly lit and cluttered environments. Inspired by their performance, we created a wall-following controller for a dynamic wheeled robot using tactile antenna feedback. We show this controller is stable for a wide range of control gains and robot system parameters. To test the controller, we constructed a two-link antenna that uses potentiometers and capacitive contact sensors. Experiments based on the prototype demonstrate that our controller robustly tracks unexpected corners ranging from -60° to +900.