Online Foot-Strike Detection Using Inertial Measurements for Multi-Legged Walking Robots

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F18%3A00328380" target="_blank" >RIV/68407700:21230/18:00328380 - isvavai.cz</a>

Result on the web

<a href="https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=8594010" target="_blank" >https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=8594010</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/IROS.2018.8594010" target="_blank" >10.1109/IROS.2018.8594010</a>

Result language

angličtina

Original language name

Online Foot-Strike Detection Using Inertial Measurements for Multi-Legged Walking Robots

Original language description

Proprioceptive terrain sensing is essential for rough terrain traversal because it helps legged robots to negotiate individual steps by reacting to terrain irregularities. In this work, we propose to utilize inertial data in the detection of the contact between the leg and the terrain during the stride phase of the leg. We show that relatively cheap accelerometers can be utilized to reliably detect a foot-strike, and thus allow the robot to crawl irregular terrains. The continuous data processing is compared with the interrupt mode in which data are provided only around the foot-strike event. The interrupt mode exhibits significantly better performance, and it also supports generalization of the foot-strike event detector learned from data collected in slow locomotion to faster locomotion where the signals slightly change. The proposed solution is experimentally validated using a real hexapod walking robot for which the walking speed has been improved in comparison to the previous adaptive motion gait based on a force threshold-based position controller for the foot-strike detection.

Czech name

—

Czech description

—

Type

D - Article in proceedings

CEP classification

—

OECD FORD branch

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Project

<a href="/en/project/GA18-18858S" target="_blank" >GA18-18858S: Robotic Lifelong Learning of Multi-legged Robot Locomotion Control in Autonomous Data Collection Missions</a><br>

Continuities

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year

2018

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

ISBN

978-1-5386-8094-0

ISSN

2153-0858

e-ISSN

2153-0866

Number of pages

6

Pages from-to

7622-7627

Publisher name

IEEE Press

Place of publication

New York

Event location

Madrid

Event date

Oct 1, 2018

Type of event by nationality

WRD - Celosvětová akce

UT code for WoS article

000458872706134