抄録
An active stereo nose (ASNose) is proposed to develop a robot dog for gas source localization. Dogs are known to actively deform their nostrils when they sniff. The air samples in front of a dog are drawn to the nose by inspiring air. In the expiration phase of sniffing, air is ejected backward. This backward jet induces air currents flowing from the front of the dog to the nose, which also assist in collecting air samples. To mimic this mechanism, the ASNose is equipped with two pumps and two gas sensors. Air is inspired by the pumps through two pipes, and is delivered to the two gas sensors. The exhaust of the pumps is expired backward. Experimental results are presented to show that the actively generated air currents facilitate the determination of the direction toward a gas source by enhancing the difference between the left and right gas sensor responses.
