【摘要】 蚂蚁等生物体微小吸附力的研究对吸湿类机器人的研制有着重要意义。按照微小吸附力测试系统的要求,针对关键步骤———检测蚂蚁何时飞出测试平台展开研究。采用了时态差分法检测蚂蚁的吸附状态,判断其是否飞出测试平台。为降低误判率,设计了三次差分图像检测算法。通过算法的实现和在测试系统上的试验,验证了算法的有效性,准确测得了所选蚂蚁飞离平台时伺服马达转速为1795rpm。这为微小生物吸附力进一步研究铺平了道路。更多还原

【Abstract】 The research about many animals,like ants,is important to the design of wet adhesive robots.According to the requriement of measurement system for micro-force.We research the one of key steps——judging the time when the detected ant flies from platform.Here, we decide to settle out the problem by image difference method. At the same time,we design a new algorithm——three times image difference algorithm,for improving the precesion of detection.After the realization of the algorithm and some experiments, it is proved that the algorithm is effective.At last,we find that the ant flies from platform when the servo motor runs at 1795rpm.This puts a way for study of micro-force of small animals deeply.更多还原