【摘要】 应用归一化转动惯量特征识别方法,对作用于服装的接触物进行形体重建,建立了机器人服装触觉传感数据处理的认知图模型,给出了相应的推理运算步骤.认知图概念节点的输入量包括压力位置、大小等服装传感数据及识别重建后的接触物形体.输入数据后,通过对认知图的运算确定机器人对接触物刺激的反应行为.由于机器人触觉传感服装数据的结构化程度较高,机器人对传感服装感知过程的各种要素存在着较明显的因果关系.实验结果表明,认知图可作为一种计算平台,适于机器人服装感知全过程的数据处理.更多还原

【Abstract】 Through using the normalized inertia moment to reconstruct tactile sense data,a cognitive map model for data processing of robot tactile suit was established,and the model’s inference and operation steps were also presented.The inputs of the cognitive map concept nodes involve the reconstructed shape and the tactile sense data,such as press location,press values.Robot reflection to the object was calculated by operating the cognitive map after the data inputting.Due to high data structure level of robot sensor suit and definite consequences among the process factors,the cognitive map is a suitable platform for the data procession of robot sensor suit.更多还原