EVALUATION OF GROUND SLIPPERY CONDITION DURING WALK OF BIPEDAL ROBOT USING MEMS SLIP SENSOR

被引：0

作者：

Okatani, Taiyu ^{[1
]}

Takahashi, Hidetoshi ^{[1
]}

Takahata, Tomoyuki ^{[1
]}

Shimoyama, Isao ^{[1
]}

机构：

[1] Univ Tokyo, Tokyo, Japan

来源：

30TH IEEE INTERNATIONAL CONFERENCE ON MICRO ELECTRO MECHANICAL SYSTEMS (MEMS 2017) | 2017年

关键词：

TACTILE SENSOR; COEFFICIENT;

D O I：

暂无

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

This paper reports on a method to evaluate ground slippery condition using a MEMS slip sensor. The sensor discriminates between ground slippery and non-slippery conditions during walking motions of a bipedal robot, which enables the robot to prevent a slip. First, we evaluated the responses of the sensor pressed against an oiled or non-oiled surface. Then, we proposed a discriminating method between the oiled and non-oiled surfaces using the sensor. Finally, we demonstrated that a bipedal robot was able to evaluate the slippery condition of the ground where the foot of the robot landed during walk.

引用

页码：1033 / 1035

页数：3