Cylindrical Terrain Classification Using a Compliant Robot Foot with a Flexible Tactile-Array Sensor for Legged Robots

Borijindakul, Pongsiri; Jinuntuya, Noparit; Drimus, Alin; Manoonpong, Poramate

doi:10.1007/978-3-319-97628-0_12

Cited by 4 publications

(4 citation statements)

References 12 publications

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“…Accordingly, freely walking stick insects adjust the relative activation of antagonist muscles according to altered load distributions when walking on slopes (Dallmann et al, 2019). Finally, the high spatial resolution of a sensorised foot tip can help to extract detailed contact patterns per foot and potentially serve to judge substrate properties (Borijindakul et al, 2018), thus linking locomotion and near-range exploration (for further discussion of this issue see Dürr et al, 2018).…”

Section: Discussionmentioning

confidence: 99%

“…For incipient contacts (e.g., columns 2 and 4 in Figure 8D), only single taxels are triggered, whereas high contact forces result in the triggering of more cells (e.g., 3rd column in Figure 8D). Previous experiments with similar constructed tactile sensor arrays have shown very good classification rates for palpation procedures with a parallel gripper (Drimus et al, 2014b), as well as classifying different types of cylindrical terrains when used in combination with a compliant robot foot (Borijindakul et al, 2018). The sensorised end-effector mounted on HECTOR is shown in Figure 7E (see also Figure 5).…”

Section: Ground Contact and Load-dependent Coordinationmentioning

confidence: 98%

“…For the presented foot tip sensor, preliminary experiments on substrate classification in response to a vertical contact event were successful for substrates as different as gravel, sand or a solid plane. Furthermore, surface sensing with a flexible leg prototype that was covered with similar piezo-resistive rubber showed promising results in the classification of different types of pipe substrate such as PVC, hard paper and sponge when used in a planar array (Borijindakul et al, 2018).…”

Section: Ground Contact and Load-dependent Coordinationmentioning

confidence: 99%

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Integrative Biomimetics of Autonomous Hexapedal Locomotion

et al. 2019

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Despite substantial advances in many different fields of neurorobotics in general, and biomimetic robots in particular, a key challenge is the integration of concepts: to collate and combine research on disparate and conceptually disjunct research areas in the neurosciences and engineering sciences. We claim that the development of suitable robotic integration platforms is of particular relevance to make such integration of concepts work in practice. Here, we provide an example for a hexapod robotic integration platform for autonomous locomotion. In a sequence of six focus sections dealing with aspects of intelligent, embodied motor control in insects and multipedal robots—ranging from compliant actuation, distributed proprioception and control of multiple legs, the formation of internal representations to the use of an internal body model—we introduce the walking robot HECTOR as a research platform for integrative biomimetics of hexapedal locomotion. Owing to its 18 highly sensorized, compliant actuators, light-weight exoskeleton, distributed and expandable hardware architecture, and an appropriate dynamic simulation framework, HECTOR offers many opportunities to integrate research effort across biomimetics research on actuation, sensory-motor feedback, inter-leg coordination, and cognitive abilities such as motion planning and learning of its own body size.

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Section: Discussionmentioning

confidence: 99%

Section: Ground Contact and Load-dependent Coordinationmentioning

confidence: 98%

Section: Ground Contact and Load-dependent Coordinationmentioning

confidence: 99%

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Integrative Biomimetics of Autonomous Hexapedal Locomotion

et al. 2019

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“…The obtained virtual geometry may then be used as a target for the kneepad, so that its outer boundary should coincide with the inner boundary of the prototype. The embedded sensors will therefore follow a non-planar path, for which flexible tactile sensors are well-suited candidates [25].…”

Section: Design Considerationsmentioning

confidence: 99%

A Conformal, Optimized 3D Printed Kneepad With Deformation Sensing

et al. 2021

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Fin Ray Crossbeam Angles for Efficient Foot Design for Energy‐Efficient Robot Locomotion

Manoonpong

Rajabi

Larsen

et al. 2021

Advanced Intelligent Systems

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Robot foot and gripper structures with compliancy using different mechanical solutions have been developed to enhance proper contact formations and gripping on various substrates. The Fin Ray structure is one of the solutions. Although the Fin Ray effect has been proposed and exploited, no detailed investigation has been conducted on the effect of different crossbeam angles inside its frame. Thus, herein, an integrative approach is used, combining 3D printing with soft material, finite element modeling, and neural control to 1) manufacture the Fin Ray structure with compliancy; 2) investigate the effect of different crossbeam angles under different loads and cylindrical substrates; and 3) finally apply it as an efficient compliant robot foot structure for energy‐efficient on‐pipe locomotion. Considering the factors of a large contact area, high energy efficiency, and better durability, the Fin Ray model with nonstandard 10°‐inclined crossbeams provides the best compromise in comparison with other models, within the constraints of the defined geometric parameters.

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Cylindrical Terrain Classification Using a Compliant Robot Foot with a Flexible Tactile-Array Sensor for Legged Robots

Cited by 4 publications

References 12 publications

Integrative Biomimetics of Autonomous Hexapedal Locomotion

Integrative Biomimetics of Autonomous Hexapedal Locomotion

A Conformal, Optimized 3D Printed Kneepad With Deformation Sensing

Fin Ray Crossbeam Angles for Efficient Foot Design for Energy‐Efficient Robot Locomotion

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