tailieunhanh - Sensing Intelligence Motion - How Robots & Humans Move - Vladimir J. Lumelsky Part 15

Tham khảo tài liệu 'sensing intelligence motion - how robots & humans move - vladimir j. lumelsky part 15', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 396 SENSITIVE SKIN - DESIGNING AN ALL-SENSITIVE ROBOT ARM MANIPULATOR Figure A higher density of sensors on the robot arm body translates into the better dexterity of the arm s motion. roughly 10 sensors perhaps a little more due to specifics of the robot shape. This is a great savings in cost and design simplicity compared to the infrared sensitive skin but the resolution of this skin is much poorer only 20 cm compared with the 2 cm resolution in the infrared Consider the planar two-link arm manipulator shown in Figure . The body of this arm is covered with proximity In its current position A shown by solid lines link 12 is positioned near the obstacle O a solid black circle . Assume that following its motion planning algorithm the arm intends to slide along the obstacle with link 11 rotating clockwise as indicated by the arrow. If an arm s sensor tells it correctly that the point on its body closest to obstacle O is P1 then the next position of link 12 would be position B with the link 11 position calculated accordingly dotted lines in Figure . If however because of its sensors limited resolution the arm concludes that the point of its body closest to obstacle O is somewhere at point P3 safety considerations will make the arm move its link 12 in the position C instead of B which is equivalent to its reacting to a much bigger obstacle O . Increasing the number of sensors and placing them for example in each of the points P1 P2 and P3 would improve the skin resolution and be effectively equivalent to making the arm workspace less crowded. Tactile or Proximal Sensing When moving around humans and legged animals prefer to use proximal sensing usually vision. More rarely we also use auditory or olfactory smell sensing information to guide our motion planning. 2In theory the resolution can be improved with extra processing of signals obtained from a few neighboring sensors. This would likely require additional assumptions about the shapes .