A triboelectric-based artificial whisker for reactive obstacle avoidance and local mapping

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A1 Alkuperäisartikkeli tieteellisessä aikakauslehdessä
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Research, Volume 2021
Since designing efficient tactile sensors for autonomous robots is still a challenge, this paper proposes a perceptual system based on a bioinspired triboelectric whisker sensor (TWS) that is aimed at reactive obstacle avoidance and local mapping in unknown environments. The proposed TWS is based on a triboelectric nanogenerator (TENG) and mimics the structure of rat whisker follicles. It operates to generate an output voltage via triboelectrification and electrostatic induction between the PTFE pellet and copper films (0.3mm thickness), where a forced whisker shaft displaces a PTFE pellet (10mm diameter). With the help of a biologically inspired structural design, the artificial whisker sensor can sense the contact position and approximate the external stimulation area, particularly in a dark environment. To highlight this sensor's applicability and scalability, we demonstrate different functions, such as controlling LED lights, reactive obstacle avoidance, and local mapping of autonomous surface vehicles. The results show that the proposed TWS can be used as a tactile sensor for reactive obstacle avoidance and local mapping in robotics.
Funding Information: This work was supported in part by the National Natural Science Foundation of China (Grant Nos. 51879022, 91648120, 61633002, 51575005, 61503008, 61973172, and 62003175), the Beijing Natural Science Foundation (No. 4192026), the Fundamental Research Funds for the Central Universities (Grants Nos. 3132019037 and 3132019197), and the Academy of Finland (Grant No. 315660). Publisher Copyright: © 2021 Peng Xu et al. Exclusive Licensee Science and Technology Review Publishing House. Distributed under a Creative Commons Attribution License (CC BY 4.0).
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Xu, P, Wang, X, Wang, S, Chen, T, Liu, J, Zheng, J, Li, W, Xu, M, Tao, J & Xie, G 2021, ' A triboelectric-based artificial whisker for reactive obstacle avoidance and local mapping ', Research, vol. 2021, 9864967 . https://doi.org/10.34133/2021/9864967