摘要
A novel optical fiber tactile sensory system is proposed for obstacle avoidance of mobile robot. The principle of this whisker like tactile sensor is based on the geometric curvature changes of the optical fiber, which modulate the optical fiber′s light output. With high compliance of plastic optical fiber, the whiskers can produce only small flexing force upon mechanical contact with an obstacle. It can produce reliable proximity signals in extended tactile range, which can be translated into a larger stopping distance for the mobile robot. This sensor is lightweight, and of low cost to allow as many sensor, as necessary to be mounted on a robot.
A novel optical fiber tactile sensory system is proposed for obstacle avoidance of mobile robot. The principle of this whisker-like tactile sensor is based on the geometric curvature changes of the optical fiber, which modulate the optical fiber's light output. With high compliance of plastic optical fiber, the whiskers can produce only small flexing force upon mechanical contact with an obstacle. It can produce reliable proximity signals in extended tactile range, which can be translated into a larger stopping distance for the mobile robot. This sensor is lightweight, and of low cost to allow as many sensor, as necessary to be mounted on a robot.
基金
theHighTechnologyResearchandDevelopmentProgrammeofChina
