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Object Shape Recognition and Reconstruction Using Pivoted Tactile Sensors

机译：使用枢轴式触觉传感器进行物体形状识别和重建

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摘要

Many mammals use some special tactile hairs, the so-called mystacial macrovibrissae, to acquire information about their environment. In doing so, rats and mice, e.g., are able to detect object distances, shapes, and surface textures. Inspired by the biological paradigm, we present a mechanical model for object contour scanning and shape reconstruction, considering a single vibrissa as a cylindrically shaped Euler-Bernoulli-bending rod, which is pivoted by a bearing. In doing so, we adapt our model for a rotational scanning movement, which is in contrast to many previous modeling approaches. Describing a single rotational quasi-static sweep of the vibrissa along a strict convex contour function using nonlinear Euler-Bernoulli theory, we end up in a boundary-value problem with some unknown parameters. In a first step, we use shooting methods in an algorithm to repeatedly solve this boundary-value problem (changing the vibrissa base angle) and generate the support reactions during a sweep along an object contour. Afterwards, we use these support reactions to reconstruct the object contour solving an initial-value problem. Finally, we extend the scanning process adding a second sweep of the vibrissa in opposite direction in order to enlarge the reconstructable area of the profile.
机译：许多哺乳动物会使用一些特殊的触觉毛发，即所谓的Mystacial macrovibrissae，来获取有关其环境的信息。这样，例如老鼠和老鼠就能够检测物体的距离，形状和表面纹理。受生物学范式的启发，我们提出了一种用于对象轮廓扫描和形状重构的机械模型，将单个触角视为由轴承旋转的圆柱形欧拉-伯努利弯曲杆。这样，我们使模型适应旋转扫描运动，这与许多以前的建模方法形成了鲜明的对比。使用非线性Euler-Bernoulli理论描述沿严格凸轮廓函数的触角的单个旋转准静态扫描，我们最终遇到带有一些未知参数的边值问题。第一步，我们在算法中使用射击方法来反复解决该边界值问题（改变触角底角）并在沿物体轮廓进行扫掠期间生成支撑反应。然后，我们使用这些支持反应来重构对象轮廓，从而解决初始值问题。最后，我们扩大了扫描过程，增加了触头在相反方向上的第二次扫描，以扩大轮廓的可重构区域。

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  • 来源
    《Mathematical Problems in Engineering》 |2018年第7期|1613945.1-1613945.11|共11页
  • 作者

    Merker L.; Will C.; Steigenberger J.; Behn C.;

  • 作者单位

    Tech Univ Ilmenau, Tech Mech Grp, Max Planck Ring 12, D-98693 Ilmenau, Germany;

    Tech Univ Ilmenau, Tech Mech Grp, Max Planck Ring 12, D-98693 Ilmenau, Germany;

    Tech Univ Ilmenau, Inst Math, Weimarer Str 25, D-98693 Ilmenau, Germany;

    Merseburg Univ Appl Sci, Dept Engn & Nat Sci, Eberhard Leibnitz Str 2, D-06217 Merseburg, Germany;

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