再構成可能な足設計・マルチモーダル接触センシング・地形分類を統合した二足歩行
Integrating Reconfigurable Foot Design, Multi-modal Contact Sensing, and Terrain Classification for Bipedal Locomotion
生物に倣った足裏センサ群と地形分類を組み合わせ、足の関節を制御して不整地での接地と安定性を高める二足歩行フレームワークを提案した。
著者: Ted Tyler, Vaibhav Malhotra, Adam Montague, Zhigen Zhao, Frank L. Hammond, Ye Zhao
分類: cs.RO
原文アブストラクト
The ability of bipedal robots to adapt to diverse and unstructured terrain conditions is crucial for their deployment in real-world environments. To this end, we present a novel, bio-inspired robot foot design with stabilizing tarsal segments and a multifarious sensor suite involving acoustic, capacitive, tactile, temperature, and acceleration sensors. A real-time signal processing and terrain classification system is developed and evaluated. The sensed terrain information is used to control actuated segments of the foot, leading to improved ground contact and stability. The proposed framework highlights the potential of the sensor-integrated adaptive foot for intelligent and adaptive locomotion.
