Tactile Sensing with Servo Drives Feedback only for Blind Hexapod Walking Robot

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F15%3A00234235" target="_blank" >RIV/68407700:21230/15:00234235 - isvavai.cz</a>
Result on the web
<a href="http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=7219742&tag=1" target="_blank" >http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=7219742&tag=1</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/RoMoCo.2015.7219742" target="_blank" >10.1109/RoMoCo.2015.7219742</a>

Result language
angličtina
Original language name
Tactile Sensing with Servo Drives Feedback only for Blind Hexapod Walking Robot
Original language description
In this paper, we address the problem of traversing rough terrains with hexapod walking robots. Although there can be found several approaches to deal with the terrain complexity, the proposed approach is strictly focused on a minimalist and cheap sensorequipment without additional inertial and exteroceptive sensors. The main idea of the proposed approach is to consider only the feedback from the intelligent servo drives to detect the contact point of a leg with the surface. During the leg motion, a relation of the joint torque and difference of the current and required joint positions is utilized to emulate a dedicated tactile sensor and thus the only equipment needed are the robot actuators. The proposed approach has been experimentally verified ina series of scenarios where a regular motion gait does not allow the robot to traverse the terrain while the proposed detection method enables a smooth motion of the technically blind robot in rough terrains of various difficulty.
Czech name
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Czech description
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Project
<a href="/en/project/GJ15-09600Y" target="_blank" >GJ15-09600Y: Adaptive Informative Path Planning in Autonomous Data Collection in Dynamic Unstructured Environments</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year
2015
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
Proceedings of 10th International Workshop on Robot Motion and Control
ISBN
978-1-4799-7044-5
ISSN
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e-ISSN
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Number of pages
6
Pages from-to
240-245
Publisher name
IEEE
Place of publication
Piscataway
Event location
Poznaň
Event date
Jul 6, 2015
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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