以蚊子为灵感的活跃触觉感知用于室内导航和逃离刚软合机器人飞
Jun Zhang1, Kaiqin Cao2, Qiucheng Lu2
1Southeast University, No.2 Sipailou, Xuanwu District, Nanjing, Jiangsu, Nanjing, None Selected, 210096, CHINA.
Bioinspiration & biomimetics
|February 5, 2026
概括
本研究介绍了一种活跃的触觉感知方法,用于飞机器人在室内环境中导航. 灵感来自蚊子,机器人使用胡须传感器追踪墙壁和逃跑,克服了传统传感器的局限性.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 生物启发的工程是生物启发的.
- 人工智能的人工智能是人工智能.
背景情况:
- 目前用于室内导航的空中机器人依赖于摄像头,LiDAR或超声波传感器,每个都有诸如照明依赖,高计算成本或短距离盲区等局限性.
- 相比之下,像昆虫和动物这样的生物生物利用触觉感知来有效地感知环境,即使在低光条件下也是如此.
研究的目的:
- 提出和验证一个室内导航和逃生方法,用于一个飞机器人,使用主动触觉感知.
- 解决现有传感器在自主室内导航中的局限性,通过从蚊子的边界追踪行为中汲取灵感.
主要方法:
- 设计了一种飞机器人,具有刚性多旋转器结构,柔软的气球体和生物灵感的胡须传感器,用于触觉感知.
- 在实验中研究了蚊子的逃生行为,以告知机器人的战略.
- 开发了一个"Sense-Plan-Act"框架,用于沿墙导航和逃跑,包括一个交互模型和飞行控制器.
- 通过模拟和实验与机器人原型验证了方法.
主要成果:
- 飞机器人成功实现了室内环境中自主跟随墙壁的导航.
- 机器人使用拟议的主动触觉感知方法展示了有效的逃生行为.
- 模拟和原型实验证实了开发的控制器和战略的实用性和成功.
结论:
- 活动触觉感知为飞机器人室内导航和逃生任务提供了简单而实用的解决方案.
- 生物启发的触觉感应可以克服传统传感器的局限性,在具有挑战性的室内环境中实现强大的导航.
- "感觉-计划-行动"框架为自主追墙和逃跑机动提供了有效的策略.
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