基于压电薄膜传感器的机器人触觉识别系统

王云灏,孙铭会,辛毅,张博宣

Robot tactile recognition system based on piezoelectric film sensor

Yun-hao WANG,Ming-hui SUN,Yi XIN,Bo-xuan ZHANG

图 12 时间规划曲线在代价矩阵中的传递

Fig.12 Transfer of time planning curve in cost matrix