Quasi-static object scanning using technical vibrissae
Quasi-static object scanning using technical vibrissae
复制标题
使用技术触须进行准静态物体扫描
DOI：
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发表时间：
2014
期刊：
影响因子：
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通讯作者：
C. Behn
中科院分区：
文献类型：
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作者：
C. Will;J. Steigenberger;C. Behn
生物学观察表明，啮齿类动物使用它们的触须来估计在触觉毛发的几个接触内的障碍物接触。在此基础上，建立了一个动物触须的力学模型，得到了一个细长的梁，梁的一端有一个夹子作为支撑。光束沿着轮廓扫描，其边界可由严格凸函数描述，呈现两个相位。梁在其尖端接触轮廓的阶段和梁切向接触轮廓（在尖端和基部之间）的阶段。问题的分析结果在重建的决策标准，并在一个公式的接触点的梁的轮廓。这在文学中是新的。仅基于支撑处的力和力矩，就可以重建轮廓。
Biological observations have shown that rodents use their vibrissae to estimate obstacle contact within a few contacts of the tactile hair. Based on this observation, a mechanical model of an animal vibrissa is developed, resulting in a long slim beam with a clamp as support at one end. A sweep of the beam along a profile, with its boundary describable by a strictly convex function, exhibits two phases. A phase in which the beam contacts the profile at its tip and a phase in which the beam contacts the profile tangentially (between the tip and the base). An analysis of the problem results in a decision criterion for the reconstruction and in a formula for the contact point of the beam with the profile. This is new in literature. Based only on forces and moments at the support it is possible to reconstruct the profile.