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

使用触觉传感的环境识别在机器人领域中起着重要的作用。有源天线已经被建议作为用于识别环境的合适的触觉传感器。天线根据关于天线与环境之间的接触的信息来识别环境。我们通过科学研究补助金（C）[KAKENHI 10650419]改进了对噪声不敏感且具有快速响应的石英谐振器力传感器。在该项目中，石英谐振器力传感器安装在有源天线中，作为用于获取接触信息的传感器。使用有源天线的环境识别的研究被付诸实践如下。（2001）生产了带有石英谐振器力传感器的天线、天线的致动机构和信号调节装置。构建了由它们组成的传感系统。该天线采用对噪声不敏感的石英谐振器力传感器，可分别检测接触力和接触位置。（2002）2001年生产的有源天线系统得到改进。构造了系统的算法。利用该系统实现了二维形状的识别。（2003）对2002年建立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。

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.