DocumentCode :
2543402
Title :
Development of omni-directional and fast-responsive Net-Structure Proximity Sensor
Author :
Terada, Kazuki ; Suzuki, Yosuke ; Hasegawa, Hiroaki ; Sone, Satoshi ; Ming, Aiguo ; Ishikawa, Masatoshi ; Shimojo, Makoto
Author_Institution :
Grad. Sch. of Inf. & Eng., Univ. of Electro-Commun., Chofu, Japan
fYear :
2011
fDate :
25-30 Sept. 2011
Firstpage :
1954
Lastpage :
1961
Abstract :
This paper presents a proximity sensor for recognizing an object in 360 degrees all around with response time only 1[ms]. The sensor applies an unique design of analog net-structure circuit, which enables all-face mounting on various peripheries and fast-response/simplification of information processing. Thus, the sensor is especially available for avoiding sudden contact with rapidly approaching objects for mobile robots, robot arms, robot hands, and other robotic systems. In this paper, the structure and the detecting principle of the sensor are firstly described, then, its detection property is tested by experiments. The result shows that the sensor recognizes the angle of the nearby object with accuracy of 3[deg]. Furthermore, as practical use of the sensor, a large size model is produced for a mobile robot to achieve omni-directional sensing. By using the application model, two detection methods are discussed on situations where the number or the positions of the nearby objects differs.
Keywords :
collision avoidance; mobile robots; tactile sensors; analog net-structure circuit; fast-responsive net-structure proximity sensor; mobile robot; omnidirectional sensing; Robot sensing systems;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on
Conference_Location :
San Francisco, CA
ISSN :
2153-0858
Print_ISBN :
978-1-61284-454-1
Type :
conf
DOI :
10.1109/IROS.2011.6094566
Filename :
6094566
Link To Document :
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