Name
Abstract | ||
|---|---|---|
Human bipedal balance during standing and walking depends on several receptors including the cutaneous receptors in the glabrous skin of the foot sole. It has been shown in human-involved studies that the different areas of the sole have distinct sensitivities and serve a different purpose in both walking and standing. In humanoid robotics, the feedback to keep balance is mainly achieved using force-torque sensors mounted at the robot's ankles. Although these sensors can accurately estimate the center of pressure of a foothold, they cannot provide information about the pressure shape of the footprint and therefore can miss ill terrain conditions during locomotion. In this paper, we present a biologically inspired sole skin sensor based on the robot skin developed at our lab. The robot skin can enhance and complement the ankle force-torque sensors used in balancing and walking controllers by providing additional information that a force-torque sensor cannot produce. This additional information can be used to reconstruct the supporting polygon and the pressure footprint online. We present a case study where a force-torque sensor fails to detect the terrain conditions while the skin succeeds and the information is used to re-plan the footstep position. |
Year | DOI | Venue |
|---|---|---|
2018 | 10.1109/HUMANOIDS.2018.8625024 | 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) |
Keywords | Field | DocType |
biped locomotion,tactile feedback,human bipedal balance,standing walking,cutaneous receptors,humanoid robotics,force-torque sensor,biologically inspired sole skin sensor,ankle force-torque sensors,walking controllers | Glabrous skin,Polygon,Simulation,Computer science,Terrain,Center of pressure (fluid mechanics),Footprint,Robot,Humanoid robot | Conference |
ISSN | ISBN | Citations |
2164-0572 | 978-1-5386-7284-6 | 1 |
PageRank | References | Authors |
0.35 | 0 | 4 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| J. Rogelio Guadarrama-Olvera | 1 | 13 | 2.76 |
| Florian Bergner | 2 | 21 | 6.14 |
| Emmanuel C. Dean-Leon | 3 | 62 | 15.39 |
| Gordon Cheng | 4 | 1250 | 115.33 |