• 文献检索
  • 文档翻译
  • 深度研究
  • 学术资讯
  • Suppr Zotero 插件Zotero 插件
  • 邀请有礼
  • 套餐&价格
  • 历史记录
应用&插件
Suppr Zotero 插件Zotero 插件浏览器插件Mac 客户端Windows 客户端微信小程序
定价
高级版会员购买积分包购买API积分包
服务
文献检索文档翻译深度研究API 文档MCP 服务
关于我们
关于 Suppr公司介绍联系我们用户协议隐私条款
关注我们

Suppr 超能文献

核心技术专利：CN118964589B侵权必究
粤ICP备2023148730 号-1Suppr @ 2026

文献检索

告别复杂PubMed语法，用中文像聊天一样搜索，搜遍4000万医学文献。AI智能推荐，让科研检索更轻松。

立即免费搜索

文件翻译

保留排版，准确专业，支持PDF/Word/PPT等文件格式，支持 12+语言互译。

免费翻译文档

深度研究

AI帮你快速写综述，25分钟生成高质量综述，智能提取关键信息，辅助科研写作。

立即免费体验

使用带有减振控制的机器人传感天线改进目标检测

Improved Object Detection Using a Robotic Sensing Antenna with Vibration Damping Control.

作者信息

Feliu-Batlle Vicente, Feliu-Talegon Daniel, Castillo-Berrio Claudia Fernanda

机构信息

Escuela Técnica Superior de Ingenieros Industriales, Universidad de Castilla-La Mancha, 13071 Ciudad Real, Spain.

Instituto de Investigaciones Energéticas y Aplicaciones Industriales (INEI), Campus Universitario de Ciudad Real, 13071 Ciudad Real, Spain.

出版信息

Sensors (Basel). 2017 Apr 13;17(4):852. doi: 10.3390/s17040852.

DOI:10.3390/s17040852
PMID:28406449
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC5424729/
Abstract

Some insects or mammals use antennae or whiskers to detect by the sense of touch obstacles or recognize objects in environments in which other senses like vision cannot work. Artificial flexible antennae can be used in robotics to mimic this sense of touch in these recognition tasks. We have designed and built a two-degree of freedom (2DOF) flexible antenna sensor device to perform robot navigation tasks. This device is composed of a flexible beam, two servomotors that drive the beam and a load cell sensor that detects the contact of the beam with an object. It is found that the efficiency of such a device strongly depends on the speed and accuracy achieved by the antenna positioning system. These issues are severely impaired by the vibrations that appear in the antenna during its movement. However, these antennae are usually moved without taking care of these undesired vibrations. This article proposes a new closed-loop control schema that cancels vibrations and improves the free movements of the antenna. Moreover, algorithms to estimate the 3D beam position and the instant and point of contact with an object are proposed. Experiments are reported that illustrate the efficiency of these proposed algorithms and the improvements achieved in object detection tasks using a control system that cancels beam vibrations.

摘要

一些昆虫或哺乳动物利用触角或触须通过触觉来检测障碍物，或在视觉等其他感官无法发挥作用的环境中识别物体。人造柔性触角可用于机器人技术，在这些识别任务中模拟这种触觉。我们设计并制造了一种二自由度（2DOF）柔性触角传感器装置，以执行机器人导航任务。该装置由一根柔性梁、两个驱动梁的伺服电机以及一个检测梁与物体接触的称重传感器组成。研究发现，这种装置的效率很大程度上取决于触角定位系统所达到的速度和精度。这些问题在天线移动过程中出现的振动的严重影响下受到损害。然而，这些触角在移动时通常没有考虑到这些不期望的振动。本文提出了一种新的闭环控制方案，该方案可消除振动并改善触角的自由移动。此外，还提出了估计三维梁位置以及与物体接触的瞬间和点的算法。报告了实验结果，这些实验说明了所提出算法的效率以及在使用消除梁振动的控制系统的物体检测任务中所取得的改进。

https://cdn.ncbi.nlm.nih.gov/pmc/blobs/d1ef/5424729/b9e395ded5fc/sensors-17-00852-g017.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/d1ef/5424729/14479c3cc2fb/sensors-17-00852-g001.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/d1ef/5424729/5280e1471c8f/sensors-17-00852-g002.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/d1ef/5424729/1ea6db62bbe9/sensors-17-00852-g003.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/d1ef/5424729/62d3534189a9/sensors-17-00852-g004.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/d1ef/5424729/435ca6e58329/sensors-17-00852-g005.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/d1ef/5424729/b3a077ffe701/sensors-17-00852-g006.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/d1ef/5424729/d0af101b8791/sensors-17-00852-g007.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/d1ef/5424729/87041db2f486/sensors-17-00852-g008.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/d1ef/5424729/f9fab2cf2914/sensors-17-00852-g009.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/d1ef/5424729/3011e446e1eb/sensors-17-00852-g010.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/d1ef/5424729/abdc0bfeb3a7/sensors-17-00852-g011.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/d1ef/5424729/43eb2fdb407f/sensors-17-00852-g012.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/d1ef/5424729/d41f319e61fa/sensors-17-00852-g013.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/d1ef/5424729/0813fcd5456d/sensors-17-00852-g014.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/d1ef/5424729/fd4a34abd100/sensors-17-00852-g015.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/d1ef/5424729/3b5ee86050a4/sensors-17-00852-g016.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/d1ef/5424729/b9e395ded5fc/sensors-17-00852-g017.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/d1ef/5424729/14479c3cc2fb/sensors-17-00852-g001.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/d1ef/5424729/5280e1471c8f/sensors-17-00852-g002.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/d1ef/5424729/1ea6db62bbe9/sensors-17-00852-g003.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/d1ef/5424729/62d3534189a9/sensors-17-00852-g004.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/d1ef/5424729/435ca6e58329/sensors-17-00852-g005.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/d1ef/5424729/b3a077ffe701/sensors-17-00852-g006.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/d1ef/5424729/d0af101b8791/sensors-17-00852-g007.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/d1ef/5424729/87041db2f486/sensors-17-00852-g008.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/d1ef/5424729/f9fab2cf2914/sensors-17-00852-g009.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/d1ef/5424729/3011e446e1eb/sensors-17-00852-g010.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/d1ef/5424729/abdc0bfeb3a7/sensors-17-00852-g011.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/d1ef/5424729/43eb2fdb407f/sensors-17-00852-g012.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/d1ef/5424729/d41f319e61fa/sensors-17-00852-g013.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/d1ef/5424729/0813fcd5456d/sensors-17-00852-g014.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/d1ef/5424729/fd4a34abd100/sensors-17-00852-g015.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/d1ef/5424729/3b5ee86050a4/sensors-17-00852-g016.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/d1ef/5424729/b9e395ded5fc/sensors-17-00852-g017.jpg

相似文献

1
Improved Object Detection Using a Robotic Sensing Antenna with Vibration Damping Control.使用带有减振控制的机器人传感天线改进目标检测
Sensors (Basel). 2017 Apr 13;17(4):852. doi: 10.3390/s17040852.
2
Improving the Detection of the Contact Point in Active Sensing Antennae by Processing Combined Static and Dynamic Information.通过处理静态和动态信息的组合来提高主动感应天线接触点的检测能力。
Sensors (Basel). 2021 Mar 5;21(5):1808. doi: 10.3390/s21051808.
3
Force Control of a Haptic Flexible-Link Antenna Based on a Lumped-Mass Model.基于集总质量模型的触觉柔性连杆天线力控制
Biomimetics (Basel). 2024 Jul 7;9(7):414. doi: 10.3390/biomimetics9070414.
4
Locomotion- and mechanics-mediated tactile sensing: antenna reconfiguration simplifies control during high-speed navigation in cockroaches.运动和力学介导的触觉感知：在蟑螂的高速导航过程中，天线重构简化了控制。
J Exp Biol. 2013 Dec 15;216(Pt 24):4530-41. doi: 10.1242/jeb.083477.
5
Mechanical processing via passive dynamic properties of the cockroach antenna can facilitate control during rapid running.通过蟑螂触角的被动动态特性进行机械加工，有助于在快速奔跑时进行控制。
J Exp Biol. 2014 Sep 15;217(Pt 18):3333-45. doi: 10.1242/jeb.101501. Epub 2014 Jul 10.
6
Object Detection Applied to Indoor Environments for Mobile Robot Navigation.应用于移动机器人导航的室内环境目标检测
Sensors (Basel). 2016 Jul 28;16(8):1180. doi: 10.3390/s16081180.
7
Tactile localisation: the function of active antennal movements in the crayfish Cherax destructor.触觉定位：小龙虾Cherax destructor中主动触角运动的功能。
J Comp Physiol A. 1985 Nov;157(5):607-17. doi: 10.1007/BF01351355.
8
Micro-vibration-based slip detection in tactile force sensors.触觉力传感器中基于微振动的滑动检测
Sensors (Basel). 2014 Jan 3;14(1):709-30. doi: 10.3390/s140100709.
9
A versatile 4D capacitive imaging array: a touchless skin and an obstacle-avoidance sensor for robotic applications.一种通用的 4D 电容成像阵列：用于机器人应用的非接触式皮肤和障碍物回避传感器。
Sci Rep. 2020 Jul 13;10(1):11525. doi: 10.1038/s41598-020-68432-1.
10
3D Visual Data-Driven Spatiotemporal Deformations for Non-Rigid Object Grasping Using Robot Hands.用于机器人手部非刚性物体抓取的3D视觉数据驱动的时空变形
Sensors (Basel). 2016 May 5;16(5):640. doi: 10.3390/s16050640.

引用本文的文献

1
Force Control of a Haptic Flexible-Link Antenna Based on a Lumped-Mass Model.基于集总质量模型的触觉柔性连杆天线力控制
Biomimetics (Basel). 2024 Jul 7;9(7):414. doi: 10.3390/biomimetics9070414.
2
Position Measurements Using Magnetic Sensors for a Shape Memory Alloy Linear Actuator.使用磁传感器对形状记忆合金线性致动器进行位置测量
Sensors (Basel). 2022 Oct 1;22(19):7460. doi: 10.3390/s22197460.
3
Improving the Detection of the Contact Point in Active Sensing Antennae by Processing Combined Static and Dynamic Information.通过处理静态和动态信息的组合来提高主动感应天线接触点的检测能力。

本文引用的文献

1
Low-cost impact detection and location for automated inspections of 3D metallic based structures.用于3D金属基结构自动检测的低成本冲击检测与定位
Sensors (Basel). 2015 May 28;15(6):12651-67. doi: 10.3390/s150612651.
2
Self-powered, ultrasensitive, flexible tactile sensors based on contact electrification.基于接触起电的自供电、超灵敏、柔性触觉传感器。
Nano Lett. 2014 Jun 11;14(6):3208-13. doi: 10.1021/nl5005652. Epub 2014 May 19.
3
Active touch sensing: finger tips, whiskers, and antennae.主动触摸感知：指尖、触须和触角。
Sensors (Basel). 2021 Mar 5;21(5):1808. doi: 10.3390/s21051808.
4
A Review of Flexible Wearable Antenna Sensors: Design, Fabrication Methods, and Applications.柔性可穿戴天线传感器综述：设计、制造方法及应用
Materials (Basel). 2020 Aug 27;13(17):3781. doi: 10.3390/ma13173781.
Front Behav Neurosci. 2014 Feb 20;8:50. doi: 10.3389/fnbeh.2014.00050. eCollection 2014.
4
Active touch sensing in the rat: anticipatory and regulatory control of whisker movements during surface exploration.大鼠的主动触觉感知：表面探索过程中触须运动的预期和调节控制。
J Neurophysiol. 2009 Feb;101(2):862-74. doi: 10.1152/jn.90783.2008. Epub 2008 Nov 26.