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

Vicente Feliu-Batlle¹, Daniel Feliu-Talegon², Claudia Fernanda Castillo-Berrio³

¹Escuela Técnica Superior de Ingenieros Industriales, Universidad de Castilla-La Mancha, 13071 Ciudad Real, Spain. Vicente.Feliu@uclm.es.

Sensors (Basel, Switzerland)

|April 14, 2017

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This study introduces a novel control system for robotic flexible antennae, significantly reducing vibrations for improved object detection. The system enhances navigation by enabling faster, more accurate tactile sensing in robots.

Area of Science:

Robotics and Artificial Intelligence
Sensory Systems Engineering
Mechanical Vibrations

Background:

Insects and mammals utilize tactile sensing via antennae or whiskers for navigation and object recognition in low-visibility conditions.
Artificial flexible antennae offer a robotic solution to mimic this tactile sense for advanced navigation and recognition tasks.
Existing robotic antennae systems are hindered by vibrations, impacting positioning accuracy and overall efficiency.

Purpose of the Study:

To design and implement a two-degree of freedom (2DOF) flexible antenna sensor for robotic applications.
To develop a closed-loop control schema to mitigate vibrations and enhance antenna movement.
To create algorithms for estimating 3D beam position and contact events for improved object detection.

Main Methods:

Keywords:

active vibration damping flexible robot impact detection motion control obstacle recognition robotic sensor sensing antenna

Related Experiment Videos

A 2DOF flexible antenna sensor device was constructed, featuring a flexible beam, dual servomotors, and a load cell sensor.
A novel closed-loop control strategy was implemented to actively cancel vibrations during antenna movement.
Algorithms were developed for real-time 3D position estimation and contact point determination.

Main Results:

The proposed control system effectively suppresses vibrations in the flexible antenna.
Significant improvements in antenna positioning speed and accuracy were achieved.
Enhanced object detection capabilities were demonstrated through experimental validation.

Conclusions:

The developed closed-loop control system and associated algorithms enhance the performance of flexible antenna sensors in robotics.
Vibration cancellation is crucial for improving the efficiency and accuracy of tactile sensing in robotic navigation.
This research advances the application of biomimetic tactile sensing for robust object recognition and robot navigation.