A novel method to recognize the surface profile of a target object with a tactile whisker is suggested.A two-dimensional PSD is used as sensing element to measure the displacement of whisker root in time.The structure and the principle of robot whisker sensor are presented.The magnitude of displacement is inversely proportional to the contact distance.The smaller distance is

the more rapidly magnitude of displacement increases.The localization information

the distance and angular position of a target object are obtained with data of test.