A method and system for shape recognition based on passive whisker sensor

Abstract

The invention discloses a shape recognition method and system based on a passive whisker sensor. The method includes: determining the output voltage of the passive whisker sensor; calculating the resultant force received when the passive whisker sensor touches the object to be identified based on the output voltage; calculating the angle between the tangent of the contact surface and the X-axis direction according to the resultant force; The tangent line of the contact surface is the tangent line of the contact surface between the passive whisker sensor and the object to be identified; calculate the position of the end of the antennae of the passive whisker sensor according to the angle; identify the object to be identified according to the position of the end of the antennae. Recognize the shape of an object. The above method can enable the passive small whisker sensing system to complete the shape recognition task with high precision, and solve the problem of poor robustness of the shape recognition of the passive whisker sensing system.

Description

technical field [0001] The invention relates to the field of shape recognition, in particular to a shape recognition method and system based on a passive whisker sensor. Background technique [0002] Rats can perceive the outside world in many ways, among which the sense of touch is more important. A biomimetic tactile sensing system based on mouse whiskers also has great potential for robotic applications because it does not involve severe contact with objects and is not affected by external factors such as lighting. At present, the tactile sensing system applied to robots is mainly used for material recognition, shape recognition and navigation mapping. Among them, material recognition using whisker sensing systems has been extensively studied. [0003] The whisker sensing system that achieves better results in shape recognition is mainly active, that is, the whisker is driven by a driving device such as a motor to move on a specific trajectory. Since the active whisker...

AI Technical Summary

Problems solved by technology

Since the active whisker sensing system needs to be driven by motors and other driving devices, the overall volume of the system is too large, which limits its application in micro-robots

In addition, when the drive device drives the tentacles to move on a specific trajectory, it will introduce noise into the output signal of the sensor due to reasons such as jitter, which requires the use of complex algorithms to eliminate these interferences in subsequent signal processing

[0004] However, most of the existing passive whisker sensing systems for shape recognition complete shape recognition by summarizing the characteristics of experimental signals, which lack theoretical explanations.

Moreover, the above-mentioned template matching method requires a large amount of data sets to realize the recognition of more shapes, and the robustness is poor.

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