Cylindrical Terrain Classification Using a Compliant Robot Foot with a Flexible Tactile-Array Sensor for Legged Robots

Pongsiri Borijindakul*, Noparit Jinuntuya, Alin Drimus, Poramate Manoonpong

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

Abstract

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.

Original languageEnglish
Title of host publicationFrom Animals to Animats 15 - 15th International Conference on Simulation of Adaptive Behavior, SAB 2018, Proceedings
PublisherSpringer VS
Publication date2018
Pages136-146
ISBN (Print)978-3-319-97627-3
ISBN (Electronic)978-3-319-97628-0
DOIs
Publication statusPublished - 2018
Event15th International Conference on the Simulation of Adaptive Behavior, SAB 2018 - Frankfurt/Main, Germany
Duration: 14. Aug 201817. Aug 2018

Conference

Conference15th International Conference on the Simulation of Adaptive Behavior, SAB 2018
Country/TerritoryGermany
CityFrankfurt/Main
Period14/08/201817/08/2018
SeriesLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume10994 LNAI
ISSN0302-9743

Keywords

  • Compliant robot foot
  • Cylindrical terrains
  • Flexible tactile-array sensor

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