Artificial Active Antenna. Object's Curvature and its Influence on Accuracy
人工能動触角 対象物の曲率の影響について

Yutaka Hino, Naoki Kanayama, Makoto Kaneko, Toshio Tsuji
1997 Journal of the Robotics Society of Japan  
The Artificial Active Antenna is the sensor system motivated by the insect's antenna. It can detect the location between an insensitive flexible beam and an object through measurement of the rotational compliance on the beam in contact with the object. The goal of this paper is to consider the effects of the environment curvature on the sensing accuracy. We first introduce a set of basic equations representing force-deformation and geometrical relationships. Both numerical and approximate
more » ... ons are shown with experimental results. We show that the effect of the envi ronment curvature on the sensing accuracy can be discussed by usung one non-dimensional parameter consisting of the pushing angle, the contact distance, and the radius of curvature of the object. Finally, we show that the environment curvature makes little influence on the sensing accuracy.
doi:10.7210/jrsj.15.68 fatcat:etoqtvajavezrosolex2jhoe2i