サービスロボットの感覚神経系による，超音波センサアレイを用いた近接感覚の実現(第2報)

抄録

The sensory nervous system for service robots (S3R) is intended to ease development of sensory systems of service robots. Three key modules, i.e., sensor units, spinal cord units that aggregate sensor data, and nerve cables that connect both units using the 2-wire connection technology, are used to build a dedicated system to sense external / internal events and changes of the robot. In this paper, the proximity detection function for safety is realized using an ultrasonic sensor array and the S3R. Each ultrasonic sensor of the array prevents the interference of neighbor sensors’ sensing by hearing ultrasonic emission of them and by adjusting its timing of the emission. The nerve cables and spinal cord units simplify the placement of the ultrasonic sensors and the implementation of the software.