Surface-Property Recognition With Force Sensors for Stable Walking of Humanoid Robot

Surface-Property Recognition With Force Sensors for Stable Walking of Humanoid Robot

In this paper, we propose a surface-identification system for stable humanoid-robot walking on various types of surfaces using force sensors mounted under the robot feet. For experimental identification analysis of the surface condition, we measured the sensor-output data using five different types...

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Bibliographic Details
Main Authors: Sandip Bhattacharya, Aiwen Luo, Tapas Kumar Maiti, Sunandan Dutta, Yoshihiro Ochi, Mitiko Miura-Mattausch, Hans Jurgen Mattausch
Format: Article
Language:English
Published: IEEE 2019-01-01
Series:IEEE Access
Subjects:
Humanoid robot
force sensor
sliding-window method
multi-class classification
surface identification
walking-pattern recognition
Online Access:https://ieeexplore.ieee.org/document/8861326/

Internet

https://ieeexplore.ieee.org/document/8861326/

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