1P1-S05 Embodiment Design of Biomimetic Sniffing System for Chemical Plume Tracing Robot

Abstract

Chemical plume tracing by the autonomous robot is expected in various fields including detection of toxic gas source. In this study, we improved CPT performance of robot by designing sniffing system. The design is based on silkmoth's wing flapping which draw surrounding air to deliver smells to its antennae. To evaluate the system, we carried out odor source localization experiment in three different odor environments of (1)wind tunnel, (2)open space and (3)shifting wind. At the odor source, air containing ethanol is spouted every second. As a result, our sniffing system showed high environmentally robustness performance of which success ratio are higher than 90% in all environments we set.