关键词: 并行信号处理, 敏感皮肤, 数据融合, 数字信号处理器和复杂可编程逻辑器件, 自适应加权融合算法

Abstract: Signal processing system of the new robotics sensitive skin based-on DSP and CPLD is described in detail. Parallel signal processing is implemented by using modularized structure and high-speed float DSP and CPLD. For the multi-sensor data fusion of sensitive skin, an on-line adaptive weighted fusion algorithm is realized. The algorithm can adjust the fused sensor’s weight according to change in the sensor’s variance. At last, keep the square error of fusion system at the minimum. The algorithm can adapt itself to the changes of sensor’s character. The experimental result shows that signal processing system of the sensitive skin can real-timely provide environment information for obstacle avoidance of multi-joint robot within sensory area.

Key words: Adaptive weighted fusion algorithm, Data fusion, DSP and CPLD, Parallel signal processing, Sensitive skin