二足歩行ロボットのための柔らかい表面を持つ視覚ベース触覚センサ
Soft Surfaced Vision-Based Tactile Sensing for Bipedal Robot Applications
柔らかい変形層と視覚センサを組み合わせた足裏触覚センサを開発し、接触位置・姿勢、せん断、圧力中心、地形分類を推定して、二足歩行ロボットのバランス制御と地形認識を向上させた。
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著者: Jaeeun Kim, Junhee Lim, Yu She
分類: cs.RO
原文アブストラクト
Legged locomotion benefits from embodied sensing, where perception emerges from the physical interaction between body and environment. We present a soft-surfaced, vision-based tactile foot sensor that endows a bipedal robot with a skin-like deformable layer that captures contact deformations optically, turning foot-ground interactions into rich haptic signals. From a contact image stream, our method estimates contact pose (position and orientation), visualizes shear, computes center of pressure (CoP), classifies terrain, and detects geometric features of the contact patch. We validate these capabilities on a tilting platform and in visually obscured conditions, showing that foot-borne tactile feedback improves balance control and terrain awareness beyond proprioception alone. These findings suggest that integrating tactile perception into legged robot feet improves stability, adaptability, and environmental awareness, offering a promising direction toward more compliant and intelligent locomotion systems. For the supplementary video, please visit: https://youtu.be/ceJiy9q_2Aw
