在未知环境中,实时避障是实现智能化机器人自主工作的关键技术。敏感的皮肤可以使智能机器人具有环境感知和实时决策的能力。研制的敏感皮肤由模块化和带有强数据处理能力的微型红外传感器阵列构成,可以粘贴在机器人表面,依赖于皮肤上的红外传感器来感知外部环境。系统采用了几何光学模型法来测量敏感皮肤与障碍物间的距离。实验结果表明,在感知区域内,敏感皮肤能够实时准确地给出多关节机器人周围的障碍物存在和距离信息,为解决机器人避障问题提供新的范例。同时敏感皮肤的研制也是机器人在传感和控制领域中应用的一次尝试,对促进机器人和各相关科学的发展及提高机器人智能化的水平具有深远的意义,并将有着广阔的应用前景。

In an uncertain environment, real-time obstacle avoidance is key technology for a intelligent robot to work autonomously. Sensitive skin endows intelligent robot carrier with an ability to sense surrounding and the ability of real-time decision. The developed robotics sensitive skin is a large-area, flexible, mini-type array of infrared sensors with dataprocessing capabilities, which can be used to cover the surface of robot. Depending on the array of infrared sensors, it endows robot carrier with an ability to sense its surrounding. Distance between sensitive skin and obstacle is measured by using geometric optics model. Experimental results show that the sensitive skin can real-timely provide existence and distance information about obstacles for multi-joint robot within sensory area. The development of the sensitive skin means an attempt in sensing and control. It presents a new paradigm in solving problems such as obstacle avoidance for multi-joint robot. It will promote the development of robot and related science in our country and improve intelligent level. This will be of far-reaching significance to the promotion of robot and will have a wide application and promising prospect.