The invention discloses a tactile perception device and a gait planning method of a robot based on terrain perception. The tactile perception device comprises a triboelectric sensing layer; the piezoelectric sensing layer and the piezoresistive sensing layer are arranged on the triboelectric sensing layer; the triboelectric sensing layer is used for acquiring material data of the ground in contact with the mechanical foot, the piezoelectric sensing layer is used for acquiring contact pulse data and separation pulse data between the ground and the mechanical foot, and the piezoresistive sensing layer is used for acquiring force distribution data of the mechanical foot. The triboelectric sensing layer, the piezoelectric sensing layer and the piezoresistive sensing layer are integrated into one tactile sensing device, so that material data of the ground in contact with the mechanical foot, contact pulse data between the ground and the mechanical foot, separation pulse data and force distribution data of the mechanical foot can be obtained, the sensitivity of the tactile sensing device is improved, and the tactile sensing device can be applied to the mechanical foot. And more comprehensive touch perception between the ground and the mechanical foot is realized.
本发明公开了一种触觉感知装置及机器人基于地形感知的步态规划方法,所述触觉感知装置包括:摩擦电传感层;以及设置在所述摩擦电传感层上的压电传感层和压阻传感层;所述摩擦电传感层用于获取与机械足接触的地面的材质数据,所述压电传感层用于获取地面和机械足之间的接触脉冲数据和分离脉冲数据,所述压阻传感层用于获取机械足的力分布数据。本发明通过将摩擦电传感层、压电传感层和压阻传感层集成到一个触觉感知装置中,可获取与机械足接触的地面的材质数据、地面和机械足之间的接触脉冲数据、分离脉冲数据,以及机械足的力分布数据,提高了触觉感知装置的灵敏度,实现了地面和机械足之间更全面的触觉感知。
Tactile sensing device and robot gait planning method based on terrain sensing
一种触觉感知装置及机器人基于地形感知的步态规划方法
2024-01-09
Patent
Elektronische Ressource
Chinesisch
Autonomous Wheeled Locomotion on Irregular Terrain with Tactile Sensing
Springer Verlag | 2022
|Adaptive gait planning for quadruped robot based on center of inertia over rough terrain
DOAJ | 2022
|Ultrasonic Emission Tactile Sensing
British Library Online Contents | 1995
|