Evaluation of Ground Slipperiness during Collision Using MEMS Local Slip Sensor

Taiyu Okatani, Isao Shimoyama

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

Abstract

In this paper, we propose a method to evaluate slipperiness of a place where a foot of a legged robot collides. This method will enable the robot to prevent a slip even if the slipperiness is unexpected, whereas conventional robots have no choice but to presume the slipperiness. We show a MEMS local slip sensor is applicable to not only static situations but also dynamic situations like collision. We tested the sensor by dropping it vertically against three types of surfaces which varied in slipperiness. The results show the three surfaces can be distinguished during the collision by monitoring the sensor response.

Original languageEnglish
Title of host publication2019 IEEE 32nd International Conference on Micro Electro Mechanical Systems, MEMS 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages823-825
Number of pages3
ISBN (Electronic)9781728116105
DOIs
Publication statusPublished - 2019 Jan
Externally publishedYes
Event32nd IEEE International Conference on Micro Electro Mechanical Systems, MEMS 2019 - Seoul, Korea, Republic of
Duration: 2019 Jan 272019 Jan 31

Publication series

NameProceedings of the IEEE International Conference on Micro Electro Mechanical Systems (MEMS)
Volume2019-January
ISSN (Print)1084-6999

Conference

Conference32nd IEEE International Conference on Micro Electro Mechanical Systems, MEMS 2019
CountryKorea, Republic of
CitySeoul
Period19/1/2719/1/31

ASJC Scopus subject areas

  • Electronic, Optical and Magnetic Materials
  • Condensed Matter Physics
  • Mechanical Engineering
  • Electrical and Electronic Engineering

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