中文摘要：

多传感信息融合对于蟑螂的运动灵活性具有重要作用，为了模拟蟑螂腿毛的功能，提出采用多传感器信息融合技术开发了一种信息实时采集系统；该系统利用廉价鼠标作为传感器，在蟑螂机器人的腿上安装若干光电传感器来模拟蟑螂运动过程中腿毛的触觉，从而解决机器人位姿识别和避障的问题，为实现实时控制和智能控制提供保障；为了简化鼠标的安装，通过在蟑螂身体上安装鼠标传感器来检测位姿的方法，验证了算法的正确性，说明了模拟腿毛的功能；应用结果表明，该系统稳定性好，价格低廉，有一定的实用性与推广价值。

英文摘要：

Multi-sensor fusion has a important effect for the movement flexibility of cockroach. To simulate the function of the leg hair, this paper have developed a information real-time collecting system using the multi-sensor information fusion technology. This system use the common mouses with a low price as the sensors, and fix some photoelectric sensor to simulate the feeling of their leg hair. This system can identify the location and gesture and also avoid the barriers, which can provide a foundation for the real-time control. To simplify the fixing of the mouse, we fix the mouse sensor on the body to test the location and gesture, it prove the correctness of the algorithm. The result shows the stability and the worthy of using abroad.