High-Resolution Indirect Feet–Ground Interaction Measurement for Hydraulic-Legged Robots

Nabulsi, Samir; Sarria, Javier; Montes, Héctor; Armada, Manuel

doi:10.1109/tim.2009.2017650

Cited by 28 publications

(22 citation statements)

References 16 publications

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“…The relationship between the three vectors is found to be [14] k i sinî = k r sinr = k t sint (1) from which it immediately follows thatr = π −î and, taking into account that the frequency of the transmitted wave and that of the incident wave must be equal, i.e., that k i /n 1 = k t /n 2 , results in the well-known Snell's law sinî = k t k i sinr = n 2 n 1 sinr (2) from which it is evident that if n 2 > n 1 , a critical angle of incidenceî c exists, for which the transmitted wave lies in the z = 0 planeî…”

Section: A Frustration Of Total Internal Reflectionmentioning

confidence: 99%

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On the Design of Force Sensors Based on Frustrated Total Internal Reflection

Lavatelli

Zanoni

Zappa

et al. 2019

IEEE Trans. Instrum. Meas.

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Frustrated total internal reflection (FTIR) of light is a physical phenomenon which can be used to accomplish several measurement tasks. This paper deals with the design and modeling of pressure field or force sensors based on FTIR. In fact, it is possible to convert the value of contact pressure into a light intensity signal, owing to the frustration of reflection of a dedicated medium. In this sense, it is possible to measure pressure/forces with a camera system or a photosensitive sensor. In this paper, the physical principles of the technique are recalled. Then, an experiment will document the behavior of FTIR at micromechanical level. Consequently, a Greenwood-Williamson (GW) model is proposed as a tool to predict the response of the FTIR-based pressure sensor. Experimental data and uncertainty analysis show that the design methodology is able to predict the behavior of the sensor with an uncertainty that is about ±10% of the actual specimen response, thus providing an effective tool to optimize the FTIR experiments.

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Section: A Frustration Of Total Internal Reflectionmentioning

confidence: 99%

“…P RESSURE field sensing is a complex measurement task which is often needed in the field of mechanical [1] and biomedical engineering [2]. The analysis of measurement science literature reveals the existence of several techniques that are able to measure pressure fields (so that a pressure map is retrieved).…”

Section: Introductionmentioning

confidence: 99%

On the Design of Force Sensors Based on Frustrated Total Internal Reflection

Lavatelli

Zanoni

Zappa

et al. 2019

IEEE Trans. Instrum. Meas.

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“…[105][106][107][108][109][110][111] An automatic facade cleaning robot, SIRIUSc, has been developed for use on a high-rise building. 107,111 The robot is supported by the cables of a gantry at the top of a facade, which lowers it down the side (Fig.…”

Section: Combined Locomotionmentioning

confidence: 99%

A survey of climbing robots: Locomotion and adhesion

Chu

Jung

Han

et al. 2010

Int. J. Precis. Eng. Manuf.

211

105

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Climbing robots are robotic systems to move over 2D or complex 3D environments such as walls, ceilings, roofs, and geometric structures and to conduct various tasks. They will not only replace human workers for carrying out risky tasks in hazardous environments, but also increase operational efficiency by eliminating the costly erection of scaffolding and staffing costs. Climbing robots have special characteristics and the ability to adhere to different types of 2D or 3D surfaces, move around, and carry appropriate tools and sensors to work, while self-sustaining their bodies. Therefore, the most significant criterion for designing a climbing robot is to equip it with an appropriate locomotive and adhesion mechanism for adapting to the given environmental requirements. In this paper, a classification of climbing robots and proper examples with a brief outline are presented with considerations of the locomotive and adhesion mechanisms. Also, a list of climbing robots is provided with respect to fields of application that range from cleaning tasks in the construction industry to human care systems in the biomedical service industry.

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“…Their unique advantages, such as overcoming obstacles and executing tasks in the wild, have made them a major focus of research in the robotic domain [1][2][3][4]. For the hydraulic drive robot, the highly integrated valve-controlled cylinder composes the drive component, which is called the hydraulic drive unit (HDU) [5,6].…”

Section: Introductionmentioning

confidence: 99%

Parameters Sensitivity Analysis of Position-Based Impedance Control for Bionic Legged Robots’ HDU

Gao

et al. 2017

Applied Sciences

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Abstract:For the hydraulic drive unit (HDU) on the joints of bionic legged robots, this paper proposes the position-based impedance control method. Then, the impedance control performance is tested by a HDU performance test platform. Further, the method of first-order sensitivity matrix is proposed to analyze the dynamic sensitivity of four main control parameters under four working conditions. To research the parameter sensitivity quantificationally, two sensitivity indexes are defined, and the sensitivity analysis results are verified by experiments. The results of the experiments show that, when combined with corresponding optimization strategies, the dynamic compliance composition theory and the results from sensitivity analysis can compensate for the control parameters and optimize the control performance in different working conditions.

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High-Resolution Indirect Feet–Ground Interaction Measurement for Hydraulic-Legged Robots

Cited by 28 publications

References 16 publications

On the Design of Force Sensors Based on Frustrated Total Internal Reflection

On the Design of Force Sensors Based on Frustrated Total Internal Reflection

A survey of climbing robots: Locomotion and adhesion

Parameters Sensitivity Analysis of Position-Based Impedance Control for Bionic Legged Robots’ HDU

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