Study of environmental recognition using active antenna with quartz resonator force sensor

石英谐振器力传感器有源天线环境识别研究

基本信息

批准号：
13650470
负责人：
MURAOKA Shigenobu
金额：
$ 2.3万
依托单位：
Osaka Institute of Technology
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (C)
财政年份：
2001
资助国家：
日本
起止时间：
2001 至 2003
项目状态：
已结题

来源：
https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-13650470/
关键词：
Quartz resonator force sensor Active antenna Environmental recognition Tactile sensing Information on contact 水晶振動子

项目摘要

Recognition of an environment using tactile sensing plays an important role in the field of robotics. An active antenna has been suggested as a suitable tactile sensor for use in recognition of an environment. The antenna recognizes environment from the information on contact between the antenna and the environment. We improved the quartz resonator force sensor which is insensitive to noise and has fast response by means of Grant-in-Aid for Scientific Research (C) [KAKENHI10650419]. In this project, the quartz resonator force sensor was installed in the active antenna as a sensor for acquiring information on contact. The study of environmental recognition was put into practice using the active antenna as follows.(2001)An antenna with a quartz resonator force sensor, an actuating mechanism for the antenna and a signal conditioning device were produced. The sensing system const of them was constructed. The antenna with a quartz resonator force sensor which is insensitive to noise could detect a contact force and a contact position separately.(2002)The active antenna system produced in 2001 was improved. The algorithm for the system was constructed. Recognition of two-dimensional shape was put into practice using the system.(2003)The active antenna system and the algorithm constructed in 2002 were improved. Recognition of three-dimensional shape was put into practice using the system.

使用触觉传感对环境的识别在机器人技术领域起着重要作用。已经建议使用活性天线作为合适的触觉传感器，用于识别环境。天线从天线与环境之间的接触信息中识别环境。我们改进了对噪声不敏感的石英谐振力传感器，并通过授予科学研究的赠款（C）[Kakenhi10650419]具有快速的响应。在该项目中，将石英谐振力传感器安装在活动天线中，作为获取接触信息的传感器。（2001）具有石英谐振力传感器的天线，一种天线，一种天线的致动机制和信号调节装置的动力机制，对环境识别的研究进行了实践。（2001）。构建了它们的传感系统常量。具有对噪声不敏感的石英谐振力传感器的天线可以检测到接触力和接触位置。（2002）（2002）改善了2001年产生的活性天线系统。构建了系统的算法。（2003年）提高了2002年构建的活动天线系统和算法。使用该系统实践三维形状的识别。