Balance control of robot and human-robot interaction with haptic sensing foots

Kitti Suwanratchatamanee, Mitsuharu Matsumoto, Shuji Hashimoto

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

    15 Citations (Scopus)

    Abstract

    This paper presents a haptic sensor foot system for humanoid robot and an active tactile sensing technique to balance the humanoid robot with two legs for human and robot interaction task. The proposed sensors are implemented on two robotic foots. The sensor unit contains three thin sheets of force sensitive resistors. Those elements are arranged triangularly on the back of each foot. The research objective is to produce an artifact, which can be operated in a natural and intuitive manner by utilizing the haptic information to control a robot motion to keep the balance on the different contacted ground slopes with their both legs. As a possible application, we also attempted to let the robot avoid the falling down due to the external force by the unpredicted pushing action apply to the robot during human-robot interaction. In these applications, the information about the contacted ground floor or robot orientation is not required in advance.

    Original languageEnglish
    Title of host publicationProceedings - 2009 2nd Conference on Human System Interactions, HSI '09
    Pages68-74
    Number of pages7
    DOIs
    Publication statusPublished - 2009
    Event2009 2nd Conference on Human System Interactions, HSI '09 - Catania
    Duration: 2009 May 212009 May 23

    Other

    Other2009 2nd Conference on Human System Interactions, HSI '09
    CityCatania
    Period09/5/2109/5/23

    Fingerprint

    Human robot interaction
    Robots
    Sensors
    Resistors
    Robotics

    Keywords

    • Ground floor recognition
    • Haptic sensor
    • Human-robot interactions
    • Robots
    • Tactile sensor

    ASJC Scopus subject areas

    • Artificial Intelligence
    • Computational Theory and Mathematics
    • Human-Computer Interaction
    • Software

    Cite this

    Suwanratchatamanee, K., Matsumoto, M., & Hashimoto, S. (2009). Balance control of robot and human-robot interaction with haptic sensing foots. In Proceedings - 2009 2nd Conference on Human System Interactions, HSI '09 (pp. 68-74). [5090956] https://doi.org/10.1109/HSI.2009.5090956

    Balance control of robot and human-robot interaction with haptic sensing foots. / Suwanratchatamanee, Kitti; Matsumoto, Mitsuharu; Hashimoto, Shuji.

    Proceedings - 2009 2nd Conference on Human System Interactions, HSI '09. 2009. p. 68-74 5090956.

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

    Suwanratchatamanee, K, Matsumoto, M & Hashimoto, S 2009, Balance control of robot and human-robot interaction with haptic sensing foots. in Proceedings - 2009 2nd Conference on Human System Interactions, HSI '09., 5090956, pp. 68-74, 2009 2nd Conference on Human System Interactions, HSI '09, Catania, 09/5/21. https://doi.org/10.1109/HSI.2009.5090956
    Suwanratchatamanee K, Matsumoto M, Hashimoto S. Balance control of robot and human-robot interaction with haptic sensing foots. In Proceedings - 2009 2nd Conference on Human System Interactions, HSI '09. 2009. p. 68-74. 5090956 https://doi.org/10.1109/HSI.2009.5090956
    Suwanratchatamanee, Kitti ; Matsumoto, Mitsuharu ; Hashimoto, Shuji. / Balance control of robot and human-robot interaction with haptic sensing foots. Proceedings - 2009 2nd Conference on Human System Interactions, HSI '09. 2009. pp. 68-74
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