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A Tactile Sensing Foot for Single Robot Leg Stabilization [article]

Guanlan Zhang, Yipai Du, Yazhan Zhan, Michael Yu Wang
2021 arXiv   pre-print
This work is dedicated to endowing tactile sensing to legged robot's feet and showing that a single-legged robot can be stabilized with only tactile sensing signals from its foot.  ...  We propose a robot leg with a novel vision-based tactile sensing foot system and implement a processing algorithm to extract contact information for feedback control in stabilizing tasks.  ...  In this work, we integrate a vision-based tactile sensor as a foot in a single-legged robot.  ... 
arXiv:2103.14359v1 fatcat:cvs63asi25a6tkyzni3dplh2u4

Intrinsic tactile sensing for the optimization of force distribution in a pipe crawling robot

J.A. Galvez, P. Gonzalez de Santos, F. Pfeiffer
2001 IEEE/ASME transactions on mechatronics  
This paper describes a tactile sensing system based on a force/torque sensor for the feet of a pipe crawling robot.  ...  The intrinsic tactile sensing method has been experimentally tested on a single leg test setup, while the optimization of force distribution is already functioning in the TUM Pipe Crawling Robot (only  ...  Rossmann, who designed both mechanics and control of the TUM Pipe Crawling Robot.  ... 
doi:10.1109/3516.914388 fatcat:y4e5lyjwazbg3n5b3m6bvbjoqe

Gait detection based stable locomotion control system for biped robots

Ming-Yuan Shieh, Chien-Sheng Chen, Chen-Hsin Chuang, Yi-Rong Liou, Jeng-Han Li
2012 Computers and Mathematics with Applications  
In this paper, a new type of sensing module with flexible force is designed to be mounted under the robotic sole to measure the foot pressure map which is essential for the analysis of zero moment point  ...  It is a challenge to maintain a steady and stable locomotion when a biped robot navigates an uneven surface or a step.  ...  The equipment and software of the experiments were supported by the Robotics Research Center and the Optoelectronics Semiconductor Center in Southern Taiwan University.  ... 
doi:10.1016/j.camwa.2012.03.090 fatcat:3qrwiuoaz5dl3boeynmm3syxiq

A hybrid tactile sensor-based obstacle overcoming method for hexapod walking robots

Mindaugas Luneckas, Tomas Luneckas, Dainius Udris, Darius Plonis, Rytis Maskeliūnas, Robertas Damaševičius
2020 Intelligent Service Robotics  
Here, we present a novel method for obstacle overcoming for walking robots based on the use of tactile sensors and generative recurrent neural network for positional error prediction.  ...  However, overcoming diverse terrain obstacles still remains a challenging task even for multi-legged robots with a high number of degrees of freedom.  ...  based on sensing the foot forces.  ... 
doi:10.1007/s11370-020-00340-9 fatcat:jwimmsvw6jcpdg3k6jb22kuvqy

Tactile sensing by the sole of the foot: part i: apparatus and initial experiments toward obtaining dynamic pressure maps useful for stabilizing standing, walking, and running of humanoid robots

Abhinav Kalamdani, Chris Messom, Mel Siegel
2006 2006 IEEE International Workshop on Haptic Audio Visual Environments and their Applications (HAVE 2006)  
This paper introduces prototype experimental apparatus to investigate stability in standing, walking and running of humanoid robots using pressure sensing at the foot contact.  ...  during static balancing or the densely sampled impact point of the foot during walking or running.  ...  Our eventual aim is to characterize and understand the role of tactile sensing by the human foot in stabilizing bipedal standing, walking, and running [1] [2] [3] , and to apply this understanding to  ... 
doi:10.1109/have.2006.283783 fatcat:fzroosxcj5cwpcur73uuw3l6ni

A Flexible Multimodal Sole Sensor for Legged Robot Sensing Complex Ground Information during Locomotion

Yingtian Xu, Ziya Wang, Wanjun Hao, Wenyu Zhao, Waner Lin, Bingchen Jin, Ning Ding
2021 Sensors  
A biomimetic, flexible, multimodal sole sensor (FMSS) designed for legged robots to identify the ontological status and ground information, such as reaction force mapping, contact situation, terrain, and  ...  The presented work indicates the FMSS's potential to extend the feasibility and dexterity of tactile perception for state estimation and complex scenario detection.  ...  With rich sensing, Materials and Methods Device Design and Fabrication Different from other multimodal tactile sensors for legged robots, which usually require a redesign of the whole foot, a soft  ... 
doi:10.3390/s21165359 pmid:34450801 pmcid:PMC8399010 fatcat:2fa673pi7vc2zk7tl4g5trpyhu

Plantar Tactile Feedback For Biped Balance and Locomotion on Unknown Terrain

J. Rogelio Guadarrama Olvera, Emmanuel Dean Leon, Florian Bergner, Gordon Cheng
2019 International Journal of Humanoid Robotics  
This work introduces a new sensing system for biped robots based on plantar robot skin, which provides not only the resultant forces applied on the ankles but a precise shape of the pressure distribution  ...  Two experiments were designed to show the advantages of this new sensing technology for improving balance and walking controllers for biped robots over unknown terrain.  ...  Acknowledgment Special acknowledgement to the Mexican National Council of Science and Technology (CONACYT) for supporting the¯rst author.  ... 
doi:10.1142/s0219843619500361 fatcat:vufeswdajbf2fcxhba7ozo4ckq

Exploiting global force torque measurements for local compliance estimation in tactile arrays

Carlo Ciliberto, Luca Fiorio, Marco Maggiali, Lorenzo Natale, Lorenzo Rosasco, Giorgio Metta, Giulio Sandini, Francesco Nori
2014 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems  
Experiments have been conducted on the foot of the iCub robot, sensorized with a single force/torque sensor and a tactile array of 250 taxels on the foot sole.  ...  For review only.  ...  More recently, in [11] a method to estimate the terrain properties has been presented for improving the stability and guiding foot placement on rough terrain.  ... 
doi:10.1109/iros.2014.6943124 dblp:conf/iros/CilibertoFMNRMSN14 fatcat:u36zsatp5bfdddo47r7kywejui

Design, Construction, and Rough-Terrain Locomotion Control of Novel Hexapod Walking Robot with Four Degrees of Freedom per Leg

Petr Cizek, Martin Zoula, Jan Faigl
2021 IEEE Access  
Multi-legged walking robots are suitable platforms for unstructured and rough terrains because of their immense locomotion capabilities.  ...  Therefore, we consider HAntR represents a step further towards a wide range of future applications and deployments of six-legged walking robots.  ...  Besides, they allow tactile sensing only at the leg foot-tip, whereas the contact can occur anywhere along the leg morphology.  ... 
doi:10.1109/access.2021.3053492 fatcat:ksycfqjg6bcbvep7abargofdvy

A Biologically Inspired Passive Antenna for Steering Control of a Running Robot [chapter]

Noah J. Cowan, Emily J. Ma, Mark Cutkosky, Robert J. Full
2005 Springer Tracts in Advanced Robotics  
Inspired by nature's effective use of tactile feedback for rapid maneuvering, we designed a passive, highly compliant tactile sensor for Sprawlette, a hexapedal running robot.  ...  First, we developed a simple template model for antenna-based wall following.  ...  For mobile robots, tactile sensing provides a compelling alternative to traditional sensing methods, such as sonar, capacitive or inductive proximity sensors, that are highly dependent on the sensed object's  ... 
doi:10.1007/11008941_58 fatcat:kyzsb57dnzhmlpthuwrqb5nnrq

Special issue on whole-body control of contacts and dynamics for humanoid robots

Serena Ivaldi, Jan Babič, Michael Mistry, Robin Murphy
2016 Autonomous Robots  
Sometimes, like when reaching for a distant object or standing inside a moving bus that suddenly brakes, humans plan intentionally new contacts to preserve their balance and avoid falling.  ...  Whether you are walking on a concrete floor, standing on a carpet, or sitting on a soft chair, your entire body continuously controls the posture and the contact forces that are produced by acting on rigid  ...  Michael Mistry is a Senior Lecturer in Robotics at the School of Computer Science, University of Birmingham, where he is also a member of the Intelligent Robotics Lab and the Centre for Computational Neuroscience  ... 
doi:10.1007/s10514-016-9545-5 fatcat:svbsz5d5obe5fossx6fkymb57a

Bionic Limb Mechanism and Multi-Sensing Control for Cockroach Robots [chapter]

Weihai Chen, XiaoQi Chen, Jingmeng Liu, Jianbin Zhang
2009 Mobile Robots - State of the Art in Land, Sea, Air, and Collaborative Missions  
Development of Novel Tactile System Cockroach's powerful sensing abilities are further enhanced through its tactile perception (leg pressure sensing) of the environment.  ...  Fibre Optic Sensing for Cockroach Robot Tentacles Fibre optic sensors are identified as a potentially suitable candidate to emulate the sensing functions of cockroach leg feathers and head tentacles.  ... 
doi:10.5772/6990 fatcat:t64jwp5esvb7jhf2ied2krw37i

Integrative Biomimetics of Autonomous Hexapedal Locomotion

Volker Dürr, Paolo P. Arena, Holk Cruse, Chris J. Dallmann, Alin Drimus, Thierry Hoinville, Tammo Krause, Stefan Mátéfi-Tempfli, Jan Paskarbeit, Luca Patanè, Mattias Schäffersmann, Malte Schilling (+5 others)
2019 Frontiers in Neurorobotics  
Here, we provide an example for a hexapod robotic integration platform for autonomous locomotion.  ...  of multiple legs, the formation of internal representations to the use of an internal body model-we introduce the walking robot HECTOR as a research platform for integrative biomimetics of hexapedal locomotion  ...  Krause for their contributions during the EMICAB project, and Yannick Günzel for technical assistance.  ... 
doi:10.3389/fnbot.2019.00088 pmid:31708765 pmcid:PMC6819508 fatcat:52w565eyczgvleem5vlnlerm7i

Adaptive Feet for Quadrupedal Walkers

Manuel Giuseppe Catalano, Mathew Jose Pollayil, Giorgio Grioli, Giorgio Valsecchi, Hendrik Kolvenbach, Marco Hutter, Antonio Bicchi, Manolo Garabini
2021 IEEE Transactions on robotics  
Inspired by our previous work on soft feet for bipedal robots, we present the SoftFoot-Q, an articulated adaptive foot for quadrupeds.  ...  Moreover, traditional feet for quadrupeds lack sensing systems that are able to provide information about the environment and about the foot interaction with the surroundings.  ...  Poggiani for the help with the sensorization of the robotic foot. The authors would also like to thank R. Grandia, D. Bellicoso, K. Holtmann, and F.  ... 
doi:10.1109/tro.2021.3088060 fatcat:ddlchwxvsbgufigi4l77onvck4

Navigating by Touch: Haptic Monte Carlo Localization via Geometric Sensing and Terrain Classification [article]

Russell Buchanan, Jakub Bednarek, Marco Camurri, Michał R. Nowicki, Krzysztof Walas, Maurice Fallon
2021 arXiv   pre-print
First, a terrain classifier computes the probability that a foot has stepped on a particular terrain class from sensed foot forces.  ...  In this paper, we propose a purely proprioceptive localization algorithm which fuses information from both geometry and terrain class, to localize a legged robot within a prior map.  ...  It was part funded by the EU H2020 Project THING (Grant ID 780883) and a Royal Society University Research Fellowship (Fallon).  ... 
arXiv:2108.08015v1 fatcat:mazn5kg3qnglxjj5fvludpdfpe
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