Research On Modeling And Simulation Of Biomimetic Robot Whisker Sensor

Rodents can detect objects and avoid obstacles by their whiskers, inspired by this, invented the whisker sensor. The principles of whisker sensor were analyzed theoretically in this paper, the methods of distance measurement and contour detection by whisker sensor were studied. These methods are feasible and effective which verified by the simulations with ANSYS/LS-DYNA .Finally, research about obstacles avoidance of biomimetic robot based on whisker sensor was done with virtual reality. The following studies have been done:1. The mechanical model of whisker was established. Contact distance measurements by moving or rotating whisker sensor were mentioned, and their formulas were derived. And then the method of contour detection with whisker arrays was mentioned. Also, the formula was derived.2. Simulations of whisker-object contact test were done. Established the finite element model of whisker and object with ANSYS/LS-DYNA, carried out the simulations of whisker contact object by moving and rotating. And then calculated and analyzed the simulation data, obtained the contact distance, proved the feasibility and validity of the method.3. Simulations of contour detection with whisker arrays were done. Established the finite element model of whisker arrays and object with ANSYS/LS-DYNA, carried out the simulations of whisker arrays scan object. And then got the position of contact point according to the above-mentioned method of contour detection and its calculation formula, and constructed the object contour.4. Research about obstacles avoidance of biomimetic robot based on whisker sensor was done .Virtual environment and virtual prototype of biomimetic robot based on whisker sensor were established with ADAMS, built the control rules and made the robot move independently and avoid obstacles in the virtual environment.