一种基于阵列式触觉传感器的主动触觉搜索方法及仿真

A NEW METHOD OF ACTIVE TACTILE SEARCHING AND ITS SIMULATION ON THE BASIS OF ARRAYED TACTILE SENSOR

本文在一种二指节手指模型的基础上，提出了一种新的主动触觉搜索策略和方法，综合利用阵列式触觉传感铭的输出图象来不断改变机械手的姿态，从而依次有序地搜索到三维物体的特征点，并据此生成物体的三维图形。此外还讨论了上述方法的计算机仿真实现。

This paper gives a new kind of active tactile searching tactics and method on the basis of a typeof two-link finger and synthetically uses output images of the arrayed tactile sensor to change the posture ofthe manipulator so as to obtain the characteristic points of three dimension object in turns. And in this way,we can get three dimension image of the object. Besides these, the paper discusses the computer simulation ofabove methods.