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

• 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

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.

基于触觉感知的环境识别在机器人领域有着重要的作用。有源天线已被认为是用于环境识别的合适的触觉传感器。天线根据天线与环境之间的接触信息识别环境。我们利用科研助学金(C)[KAKENHI10650419]改进了对噪声不敏感、响应速度快的石英谐振式力传感器。在本项目中，将石英谐振式力传感器安装在有源天线中，作为获取接触信息的传感器。利用有源天线进行环境识别的研究如下：(2001)制作了一种带有石英谐振式力传感器的天线、天线的驱动机构和信号调理装置。构建了由它们组成的传感系统。天线采用对噪声不敏感的石英谐振器力传感器，可以分别检测接触力和接触位置。(2002)对2001年生产的有源天线系统进行了改进。构造了该系统的算法。利用该系统实现了二维形状的识别。(2003)对2002年构建的有源天线系统和算法进行了改进。利用该系统实现了三维形状的识别。

项目成果

村岡茂信, 貴田恭旭, 岡田吉広, 野田宗宏: "水晶振動子式力センサを用いた能動触角とこれによる外界センシング"電気学会論文誌. 123-E-11. 493-498 (2003)

Shigenobu Muraoka、Yasuaki Kida、Yoshihiro Okada、Munehiro Noda：“使用晶体振荡器型力传感器的有源天线和使用它的外部传感”日本电气工程师学会汇刊 123-E-11 (2003)。

村岡茂信, 貴田恭旭, 岡田吉広, 野田宗宏: "水晶振動子式力センサを用いた能動触角とこれによる外界センシング"電気学会論文誌E. 123-11. 493-498 (2003)

Shigenobu Muraoka、Yasuaki Kida、Yoshihiro Okada、Munehiro Noda：“使用晶体振荡器力传感器的有源天线和使用它的外部传感”日本电气工程师学会汇刊 E. 123-498 (2003)。

村岡茂信: "触角の計測技術"ふぇらむ(日本鉄鋼協会会報). 9-2. 37-43 (2004)

Shigenobu Muraoka：“Tental 测量技术”Ferrum（日本钢铁协会通报）9-2（2004 年）。

S.Muraoka: "Tactile sensing"Bulletin of The Iron and Steel Institute of Japan. 9-2. 37-43 (2004)

S.Muraoka：日本钢铁研究所的“触觉传感”通报。

S.Muraoka: "Application of a quartz resonator to a force sensor built in a robot finger for use in a grasp or recognition environment"Measurement. 34-3. 229-244 (2003)

S.Muraoka：“石英谐振器应用于机器人手指内置的力传感器，用于抓取或识别环境”测量。