仿蝾螈机器人集成触觉与流体传感器，实现水陆双环境感知。
Polymander II: an amphibious salamander-inspired robot with contact and flow sensors
- 用霍尔传感器同步感知脚部接触力和侧向水动力
- 采样率超500Hz获取外部信息，100Hz读取关节状态
- 传感器小巧防水，适合多位置嵌入，助力复杂运动控制
机器人依赖感官信息来协调肢体运动、增强抗扰能力，并在不同地形间切换模式。然而，极少有两栖机器人能同时感知陆地与水域的交互。本文提出一种基于霍尔效应传感器的方案，用于感知仿蝾螈两栖机器人的足部接触力与侧向水动力。通过两条总线，机器人可同步以超过500 Hz的频率获取外部感知信息，同时以100 Hz频率采集关节位置与负载等本体感知信息。所用霍尔传感器体积小，适合多位置嵌入，对微小力高度敏感；且传感器可与被测对象分离布置，便于实现防水。实验表明，该机器人具备穿越水陆环境的能力，并展示了利用反馈控制完成更复杂运动任务的潜力。
原文摘要 · Abstract (English)
Robots benefit from sensory information to coordinate body movement, gain robustness against perturbations, and transition between different modes to adapt to various terrains. However, few amphibious robots can sense interactions with both terrestrial and aquatic environments. In this paper, we present a solution that uses Hall-effect sensors to sense foot contact forces and lateral hydrodynamic forces on a salamander-inspired amphibious robot. With two bus lines, the robot can simultaneously acquire this exteroceptive information at more than 500 Hz and proprioceptive information, such as joint positions and loads, at 100 Hz. The Hall-effect sensors used are compact, making them suitable for embedding in multiple positions within a robot, and exhibit high sensitivity to small forces. Moreover, because the sensor can be positioned separately from the measured object, waterproofing can be implemented with relative ease. Our tests demonstrate the robot's capabilities in traversing amphibious environments and its potential in using feedback control for more complex locomotion tasks.
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