複数のウィスカからなる触覚センサのための接触領域が可変な認識方法(機械力学,計測,自動制御)

概要

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This paper presents a recognition method which can vary the contact area of a tactile sensor with multi artificial whiskers. Previously we have proposed a new tactile sensor which mimics whiskers of animals and established a basic recognition method for the proposed sensor. The previous method distinguishes contact objects by the neural network from the combination of deformations of plural whiskers whose number and arrangement are steady. The change of the number of whiskers needs reconstruction of the neural network and the increase in the number of whisker rises learning time to construct the neural network. Thus, the previous method can recognize only small objects in a limited area. Therefore, the present paper proposes a new recognition method that uses an equivalent whisker composed of plural whiskers. The tactile sensor is composed of plural arranged equivalent whiskers, and contact objects will be recognized by the combination of the deformations of the equivalent whiskers. This paper shows the recognition can be performed by the same neural network if the number of whiskers comprised in the equivalent whisker is varied. Thus the proposed method can recognize contact objects by adjusting the number of the whiskers, thereby the contact area of the tactile sensor will be varied.
社団法人日本機械学会の論文
2005-04-25