Model for a Sensor Inspired by Electric Fish

被引：47

作者：

Boyer, Frederic ^{[1
]}

Gossiaux, Pol Bernard ^{[2
]}

Jawad, Brahim ^{[3
]}

Lebastard, Vincent ^{[1
]}

Porez, Mathieu ^{[1
]}

机构：

[1] Ecole Mines Nantes, Inst Rech Commun & Cybernet, Nantes Lab, F-44307 Nantes, France

[2] Ecole Mines Nantes, SUBATECH Lab, F-44300 Nantes, France

[3] Ctr Natl Rech Sci, Inst Rech Commun & Cybernet, Nantes Lab, F-44300 Nantes, France

来源：

IEEE TRANSACTIONS ON ROBOTICS | 2012年 / 28卷 / 02期

关键词：

Active perception; bioinspired sensor; electrokinetics; electrolocation; electrostatics; model reduction; resistance matrix; ELECTROLOCATION; OBJECTS; IMAGES;

D O I：

10.1109/TRO.2011.2175764

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This paper reports the first results from a program of work aimed at developing a swimming robot equipped with electric sense. After having presented the principles of a bioinspired electric sensor that is now working, we will build the models for electrolocation of objects that are suited to this kind of sensor. The produced models are in a compact analytical form in order to be tractable on the onboard computers of the future robot. These models are tested by comparing them with numerical simulations based on the boundary elements method. The results demonstrate the feasibility of the approach and its compatibility with online objects electrolocation, i.e., another parallel program of ours.

引用

页码：492 / 505

页数：14

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