摘要：Placement and wiring of vast amount of sensor elements on the 3-dimensionally configured robot sur-face to form soft sensor skin is very difficult with the traditional technology. In this paper we propose a new method to realize such a *** implanting infrared sensors array in an elastic body, we obtain an elastic and tough sensor skin that can be shaped *** developed sensor skin is a large-area, flexi-ble array of infrared sensors with data processing *** on the skin electronics, it en-dows its carrier with an ability to sense its *** structure, the method of infrared sensor sig-nal processing, and basic experiments of sensor skin are presented. The validity of the infrared sensor skin is investigated by preliminary obstacle avoidance trial.

摘要：To change the current phenomenon of ＂Being an armchair strategist＂ in the research of a stepping motor, the virtual simu- lation system of stepping motor was developed using virtual reality technique. The basic principle of stepping motor was expounded. The development strategy of the simulation software is introduced. Some key problems and their solutions, including coordinate transformation of rotor and order of on-off electricity for stator, were put forward in system development. Finally, there are three virtual simulation examples of the on-off electricity way in this paper. This work provides a valuable auxiliary tool for the study of the stepping motor.