Force-Sensor-Based Surface Recognition With Surface-Property-Dependent Walking-Speed Adjustment of Humanoid Robot

Force-Sensor-Based Surface Recognition With Surface-Property-Dependent Walking-Speed Adjustment of Humanoid Robot

We report the development of a biped-robot system with real-time surface recognition and walking-speed adjustment to control the robot motion during walking on different types of surfaces. Four types of test surfaces (i.e. rough foam (RF), smooth foam (SF), thin carpet (TC) and smooth table (ST)) ar...

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Bibliographic Details
Main Authors: Sandip Bhattacharya, Aiwen Luo, Sunandan Dutta, Mitiko Miura-Mattausch, Hans Jurgen Mattausch
Format: Article
Language:English
Published: IEEE 2020-01-01
Series:IEEE Access
Subjects:
Humanoid robot
force sensor
microcomputer
Euclidean distance
application specific motion file (ASMF)
Online Access:https://ieeexplore.ieee.org/document/9195819/

Internet

https://ieeexplore.ieee.org/document/9195819/

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