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

Kitti Suwanratchatarnanee; Mitsuharu Matsumoto; Shuji Hashimoto

doi:10.1109/ICMECH.2009.4957223

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

Kitti Suwanratchatarnanee^*, Mitsuharu Matsumoto, Shuji Hashimoto

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

10 Citations (Scopus)

Abstract

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.

Original language	English
Title of host publication	IEEE 2009 International Conference on Mechatronics, ICM 2009
DOIs	https://doi.org/10.1109/ICMECH.2009.4957223
Publication status	Published - 2009
Event	IEEE 2009 International Conference on Mechatronics, ICM 2009 - Malaga Duration: 2009 Apr 14 → 2009 Apr 17

Other

Other	IEEE 2009 International Conference on Mechatronics, ICM 2009
City	Malaga
Period	09/4/14 → 09/4/17

ASJC Scopus subject areas

Electrical and Electronic Engineering
Mechanical Engineering

Access to Document

10.1109/ICMECH.2009.4957223

Cite this

@inproceedings{449f708bcce54e9ca4c7bc67693beba5,

title = "A simple tactile sensing foot for humanoid robot and active ground slope recognition",

abstract = "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.",

author = "Kitti Suwanratchatarnanee and Mitsuharu Matsumoto and Shuji Hashimoto",

year = "2009",

doi = "10.1109/ICMECH.2009.4957223",

language = "English",

isbn = "9781424441952",

booktitle = "IEEE 2009 International Conference on Mechatronics, ICM 2009",

note = "IEEE 2009 International Conference on Mechatronics, ICM 2009 ; Conference date: 14-04-2009 Through 17-04-2009",

}

TY - GEN

T1 - A simple tactile sensing foot for humanoid robot and active ground slope recognition

AU - Suwanratchatarnanee, Kitti

AU - Matsumoto, Mitsuharu

AU - Hashimoto, Shuji

PY - 2009

Y1 - 2009

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=67650337053&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=67650337053&partnerID=8YFLogxK

U2 - 10.1109/ICMECH.2009.4957223

DO - 10.1109/ICMECH.2009.4957223

M3 - Conference contribution

AN - SCOPUS:67650337053

SN - 9781424441952

BT - IEEE 2009 International Conference on Mechatronics, ICM 2009

T2 - IEEE 2009 International Conference on Mechatronics, ICM 2009

Y2 - 14 April 2009 through 17 April 2009

ER -

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

Abstract

Other

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this