수염 촉각 센서를 이용한 물체 위치 판별 그리고 이에 따른 로봇의 상대적 위치 제어 방법

Tactile localization Using Whisker Tactile Sensors

Rodents demonstrate an outstanding capability for tactile perceptions using their whiskers. The mechanoreceptors in the whisker follicles are responsive to the deflections or vibrations of the whisker beams. It is believed that the sensor processing can determine the location of an object in touch, that is, the angular position and direction of the object. We designed artificial whiskers modelling the real whiskers and tested tactile localization. The robotic system needs to adjust its position against an object to help the shape recognition. We show a robotic adjustment of position based on tactile localization. The behaviour uses deflection curves of the whisker sensors for every sweep of whiskers and estimates the location of a target object.