Robot Is More Than Feeling The Sensor System With Multi-information Fusion Technology

Artificial Intelligence of robot includes two relative aspects:robot sensors and processing of sensory data. Through processing analyzing and scene understanding of sensory data,robot gives its control tactics. Surrounding characteristic, conceived by information of robot sensor, is acquired by interaction of sensors and environment. Meanwhile, the information from the sensors can be fused at a variety of levels of representation, to guide the operation of robots. Since it is impossible for an individual sensor to describe the environment completely, various sensors are equipmented in an intelligent robot system, thus, miniaturization , integration and multiplefunctions of robot sensors are their tendency. On the other hand, because of numerous and complicate of sensors,a nice multisensor data fusion system is needed in intelligent robots. It has been seen an increasingly interest in the development of robot multisensor system and data fusion recent years.This dissertation, based on researching of various kinds of robot sensors, discusses multisensor integration and data fusion systemalically. The paper also developed an intelligent robot system, used as a carrier of study of multisensor integration and data fusion. The paper summarized some achievements acquired by author researched in this area, including robot's approximate sensor touch sensor , slip sensor , adaptive grip system based on above sensors , a wrist force sensor made of PVDF , an artificial skin tactile sensor and an intelligent robot system with multisensor and using data fusion etc.The first chapter of the dissertation introduces briefly the R&D of robot technology. It reviews multisensor system , data fusion and it's application. In the second chapter, three robot sensors:approximate sensor , touch sensor , slip sensor and an intelligent gripping system with above three perceptions are discussed . Chapter three developed a new kind of robot wrist force sensor(3D) made of PVDF .The three dimensions force are metered by piezoelectrical straingauges adhered in elastic structure of the force sensor. This kind of force sensor has a fast dynamic response and good output stability. Chapter four studies on artificial skin tactile sensors. This anthropomorphized sensor, usually having touch , press , thermal , slip and pains sense, is a multifunction sensor. The advantage of the sensor is small size multiple sensing and flexibility of sensor surface. Some new ideas such as the construction of the sensor and data acquisition method have brought on in the artificial skin tactile sensor developed by author, solving the mixture of touch and thermal signal while PVDF used as a common sensitive material. This problem is considered inevitable that proposed by Prof. Dario,P. from Pisa university. Author attempted some new...