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

Kitti Suwanratchatarnanee, Mitsuharu Matsumoto, Shuji Hashimoto

    研究成果: Conference contribution

    9 被引用数 (Scopus)

    抄録

    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.

    本文言語English
    ホスト出版物のタイトルIEEE 2009 International Conference on Mechatronics, ICM 2009
    DOI
    出版ステータスPublished - 2009
    イベントIEEE 2009 International Conference on Mechatronics, ICM 2009 - Malaga
    継続期間: 2009 4 142009 4 17

    Other

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

    ASJC Scopus subject areas

    • Electrical and Electronic Engineering
    • Mechanical Engineering

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