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

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

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

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

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

Popis výsledku anglicky

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.

Druh

D - Stať ve sborníku

CEP obor

JC - Počítačový hardware a software

OECD FORD obor

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Projekt

<a href="/cs/project/GJ15-09600Y" target="_blank" >GJ15-09600Y: Adaptivní plánování v úlohách autonomního sběru dat v nestrukturovaném prostředí</a><br>

Návaznosti

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

Rok uplatnění

2015

Kód důvěrnosti údajů

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

Název statě ve sborníku

Proceedings of 10th International Workshop on Robot Motion and Control

ISBN

978-1-4799-7044-5

ISSN

—

e-ISSN

—

Počet stran výsledku

6

Strana od-do

240-245

Název nakladatele

IEEE

Místo vydání

Piscataway

Místo konání akce

Poznaň

Datum konání akce

6. 7. 2015

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

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