Name
Title | ||
|---|---|---|
Oroposal and development of arrayed sole sensor for legged robot and contact force detection using neural networks |
Abstract | ||
|---|---|---|
Recently multi-legged walking robots are widely developed. For these robots to walk safely, a sole sensor with high performance is desired. In the present paper, an arrayed type tactile sensor made of flexible silicone rubber, which is based on micro-electro-mechanical-systems (MEMS) technology, was developed. This sensor was applied as a sole sensor of a legged mobile robot. By processing the force data from many sensing elements using neural networks, information of contact force, i.e., three dimensional x, y, and z components of force vector, was able to be detected, which was confirmed by both simulation and experiment. |
Year | DOI | Venue |
|---|---|---|
2009 | 10.1109/IROS.2009.5354017 | IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems |
Keywords | Field | DocType |
neural network,legged mobile robot,sole sensor,arrayed sole sensor,force vector,present paper,contact force,force data,legged robot,high performance,contact force detection,flexible silicone rubber,arrayed type tactile sensor | Computer vision,Microelectromechanical systems,Computer science,Simulation,Legged robot,Contact force,Control engineering,Artificial intelligence,Artificial neural network,Robot,Mobile robot,Tactile sensor | Conference |
Citations | PageRank | References |
0 | 0.34 | 1 |
Authors | ||
5 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Seiji Aoyagi | 1 | 25 | 14.63 |
| Takashi Matsuda | 2 | 0 | 0.34 |
| Yuuki Ikejiri | 3 | 0 | 0.34 |
| Masato Suzuki | 4 | 2 | 7.57 |
| Kenji Inoue | 5 | 0 | 0.34 |