Abstract
Robot touch sensation is an important feeling pattern for robots to gain environment information in non-vision sensor domain, in this thesis, the writer uses silicon piezoresistive sensor to form Array haptic system, and form gray level image from collected pressure and temperature information, and judge the slippage condition of objects through image preprocessing, region segmentation, centroid identification, and show the result picturesquely by using image. The experimental result shows that this method can fastly and effectively judge the slippage condition of objects, and it can intuitionally shows the condition of distribution of object temperature.
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