Estimation of fragile ground by foot pressure sensor of legged robot

K. Tokuda, T. Toda, Y. Koji, M. Konyo, S. Tadokoro, P. Alain

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

9 Citations (Scopus)

Abstract

This paper reports several results from estimation experiments by using our new foot sensor, which is composed of a sole sensor and a rubbing mechanism for rubble walking robot. The sensor can measure every ground point's reactive force by pressing robot's legs against the ground in a given angle. There is not only stable ground but klunky ground or transformable ground or breakable ground in rubble space. Some results of our experiment shows that subtle differences are expressed by using COF (center of force) and pressure changes.

Original languageEnglish
Title of host publicationProceedings - 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages447-453
Number of pages7
ISBN (Electronic)0780377591
DOIs
Publication statusPublished - 2003 Jan 1
Externally publishedYes
Event2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003 - Kobe, Japan
Duration: 2003 Jul 202003 Jul 24

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Volume1

Other

Other2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003
CountryJapan
CityKobe
Period03/7/2003/7/24

Keywords

  • Buildings
  • Earthquakes
  • Foot
  • Force sensors
  • Leg
  • Legged locomotion
  • Orbital robotics
  • Robot sensing systems
  • Sensor systems
  • Shape

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Science Applications
  • Electrical and Electronic Engineering

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