An inductive biominetic whisker sensor based on Hall-effect is designed to enhance the environment sensing and discriminating ability of robots.The perception model of this sensor is established

and the influence of the different materials and lengths of the whisker on experimental results is analyzed by simulation experiments.Passive and active sensing methods are also provided which can evaluate the distance and angles of the object with the deflection amplitudes information measured by whisker sensors.Experimental results reveal that with this whisker sensor robots can percept the environment fleetly and exactly.