A simple tactile sensing foot for humanoid robot and active ground slope recognition

Kitti Suwanratchatarnanee, Mitsuharu Matsumoto, Shuji Hashimoto

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    6 Citations (Scopus)

    Abstract

    This paper presents a tactile sensor foot system for humanoid robot and an active tactile sensing technique to recognize a ground slope with experimental results. A tactile sensor unit implemented on the robot foot consists of three thin sheets of force sensitive resistors arranged triangularly with the peripheral circuits. The proposed tactile sensing foot can detect the ground slope for natural foot pose motions and keep the direction of the foot normal to the ground floor surface. The realized function will assist the biped walking to balance on the different contacted ground slopes such as, flat level surface, up, down, left and right slopes. In these applications, information about the contacted ground floor or orientation is not required in advance.

    Original languageEnglish
    Title of host publicationIEEE 2009 International Conference on Mechatronics, ICM 2009
    DOIs
    Publication statusPublished - 2009
    EventIEEE 2009 International Conference on Mechatronics, ICM 2009 - Malaga
    Duration: 2009 Apr 142009 Apr 17

    Other

    OtherIEEE 2009 International Conference on Mechatronics, ICM 2009
    CityMalaga
    Period09/4/1409/4/17

    Fingerprint

    Robots
    Sensors
    Resistors
    Networks (circuits)

    ASJC Scopus subject areas

    • Electrical and Electronic Engineering
    • Mechanical Engineering

    Cite this

    Suwanratchatarnanee, K., Matsumoto, M., & Hashimoto, S. (2009). A simple tactile sensing foot for humanoid robot and active ground slope recognition. In IEEE 2009 International Conference on Mechatronics, ICM 2009 [4957223] https://doi.org/10.1109/ICMECH.2009.4957223

    A simple tactile sensing foot for humanoid robot and active ground slope recognition. / Suwanratchatarnanee, Kitti; Matsumoto, Mitsuharu; Hashimoto, Shuji.

    IEEE 2009 International Conference on Mechatronics, ICM 2009. 2009. 4957223.

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Suwanratchatarnanee, K, Matsumoto, M & Hashimoto, S 2009, A simple tactile sensing foot for humanoid robot and active ground slope recognition. in IEEE 2009 International Conference on Mechatronics, ICM 2009., 4957223, IEEE 2009 International Conference on Mechatronics, ICM 2009, Malaga, 09/4/14. https://doi.org/10.1109/ICMECH.2009.4957223
    Suwanratchatarnanee K, Matsumoto M, Hashimoto S. A simple tactile sensing foot for humanoid robot and active ground slope recognition. In IEEE 2009 International Conference on Mechatronics, ICM 2009. 2009. 4957223 https://doi.org/10.1109/ICMECH.2009.4957223
    Suwanratchatarnanee, Kitti ; Matsumoto, Mitsuharu ; Hashimoto, Shuji. / A simple tactile sensing foot for humanoid robot and active ground slope recognition. IEEE 2009 International Conference on Mechatronics, ICM 2009. 2009.
    @inproceedings{449f708bcce54e9ca4c7bc67693beba5,
    title = "A simple tactile sensing foot for humanoid robot and active ground slope recognition",
    abstract = "This paper presents a tactile sensor foot system for humanoid robot and an active tactile sensing technique to recognize a ground slope with experimental results. A tactile sensor unit implemented on the robot foot consists of three thin sheets of force sensitive resistors arranged triangularly with the peripheral circuits. The proposed tactile sensing foot can detect the ground slope for natural foot pose motions and keep the direction of the foot normal to the ground floor surface. The realized function will assist the biped walking to balance on the different contacted ground slopes such as, flat level surface, up, down, left and right slopes. In these applications, information about the contacted ground floor or orientation is not required in advance.",
    author = "Kitti Suwanratchatarnanee and Mitsuharu Matsumoto and Shuji Hashimoto",
    year = "2009",
    doi = "10.1109/ICMECH.2009.4957223",
    language = "English",
    isbn = "9781424441952",
    booktitle = "IEEE 2009 International Conference on Mechatronics, ICM 2009",

    }

    TY - GEN

    T1 - A simple tactile sensing foot for humanoid robot and active ground slope recognition

    AU - Suwanratchatarnanee, Kitti

    AU - Matsumoto, Mitsuharu

    AU - Hashimoto, Shuji

    PY - 2009

    Y1 - 2009

    N2 - This paper presents a tactile sensor foot system for humanoid robot and an active tactile sensing technique to recognize a ground slope with experimental results. A tactile sensor unit implemented on the robot foot consists of three thin sheets of force sensitive resistors arranged triangularly with the peripheral circuits. The proposed tactile sensing foot can detect the ground slope for natural foot pose motions and keep the direction of the foot normal to the ground floor surface. The realized function will assist the biped walking to balance on the different contacted ground slopes such as, flat level surface, up, down, left and right slopes. In these applications, information about the contacted ground floor or orientation is not required in advance.

    AB - This paper presents a tactile sensor foot system for humanoid robot and an active tactile sensing technique to recognize a ground slope with experimental results. A tactile sensor unit implemented on the robot foot consists of three thin sheets of force sensitive resistors arranged triangularly with the peripheral circuits. The proposed tactile sensing foot can detect the ground slope for natural foot pose motions and keep the direction of the foot normal to the ground floor surface. The realized function will assist the biped walking to balance on the different contacted ground slopes such as, flat level surface, up, down, left and right slopes. In these applications, information about the contacted ground floor or orientation is not required in advance.

    UR - http://www.scopus.com/inward/record.url?scp=67650337053&partnerID=8YFLogxK

    UR - http://www.scopus.com/inward/citedby.url?scp=67650337053&partnerID=8YFLogxK

    U2 - 10.1109/ICMECH.2009.4957223

    DO - 10.1109/ICMECH.2009.4957223

    M3 - Conference contribution

    SN - 9781424441952

    BT - IEEE 2009 International Conference on Mechatronics, ICM 2009

    ER -