Cylindrical Terrain Classification Using a Compliant Robot Foot with a Flexible Tactile-Array Sensor for Legged Robots
| Autor: | Noparit Jinuntuya, Alin Drimus, Pongsiri Borijindakul, Poramate Manoonpong |
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| Rok vydání: | 2018 |
| Předmět: |
0209 industrial biotechnology
Computer science Acoustics Tactile array Pressure feedback Terrain 02 engineering and technology Robot leg 020901 industrial engineering & automation Terrain classification 0202 electrical engineering electronic engineering information engineering Robot Cylinder 020201 artificial intelligence & image processing Legged robot |
| Zdroj: | From Animals to Animats 15 ISBN: 9783319976273 SAB |
| DOI: | 10.1007/978-3-319-97628-0_12 |
| Popis: | In this paper, we present a new approach that uses a combination of a compliant robot foot with a flexible tactile-array sensor to classify different types of cylindrical terrains. The foot and sensor were installed on a robot leg. Due to their compliance and flexibility, they can passively adapt their shape to the terrains and simultaneously provide pressure feedback during walking. We applied two different methods, which are average and maximum value methods, to classify the terrains based on the feedback information. To test the approach, We performed two experimental conditions which are (1) different diameters and different materials and (2) different materials with the same cylindrical diameter. In total, we use here eleven cylindrical terrains with different diameters and materials (i.e., a 8.2-cm diameter PVC cylinder, a 7.5-cm diameter PVC cylinder, a 5.5-cm diameter PVC cylinder, a 4.4-cm diameter PVC cylinder, a 7.5-cm diameter hard paper cylinder, a 7.4-cm diameter hard paper cylinder, a 5.5-cm diameter hard paper cylinder, a 20-cm diameter sponge cylinder, a 15-cm diameter sponge cylinder, a 7.5-cm diameter sponge cylinder, and a 5.5-cm diameter sponge cylinder). The experimental results show that we can successfully classify all terrains for the maximum value method. This approach can be applied to allow a legged robot to not only walk on cylindrical terrains but also recognize the terrain feature. It thereby extends the operational range the robot towards cylinder/pipeline inspection. |
| Databáze: | OpenAIRE |
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