Estimation of fragile ground by foot pressure sensor of legged robot

Author

Tokuda, Kenichi ; Toda, Takafumi ; Koji, Yoshihisa ; Kony, Masashi ; Tadokor, Satoshi ; Alain, Pujol

Author_Institution

Graduate Sch. of Econ., Kobe Univ., Japan

Volume

1

fYear

2003

fDate

20-24 July 2003

Firstpage

447

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.

Keywords

earthquakes; legged locomotion; pressure sensors; stability; breakable ground; center of force; foot pressure sensor; fragile ground estimation; klunky ground; legged robot; pressure changes; reactive force measurement; rescue robot; rubbing mechanism; rubble space; rubble walking robot; sole sensor; stable ground; transformable ground; Buildings; Earthquakes; Foot; Force sensors; Leg; Legged locomotion; Orbital robotics; Robot sensing systems; Sensor systems; Shape;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Intelligent Mechatronics, 2003. AIM 2003. Proceedings. 2003 IEEE/ASME International Conference on

Print_ISBN

0-7803-7759-1

Type

conf

DOI

10.1109/AIM.2003.1225137

Filename

1225137