NDLI: Rapid-manufacturable hair sensor array for legged millirobots

Content Provider	IEEE Xplore Digital Library
Author	Karras, J.T. Haldane, D.W. Fearing, R.S.
Copyright Year	2012
Description	Author affiliation: Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, 94720, USA (Karras, J.T.; Fearing, R.S.) \|\| Department of Mechanical Engineering, University of California, Berkeley, USA (Haldane, D.W.)
Abstract	We present a rapid-manufacturable, hair-actuated contact sensor array designed for use on legged millirobots. The sensor is an array of sensitive contact switches. Each switch is activated by loading a hair mounted at the switch tip. The hair sensor array is sufficiently sensitive to detect the small contact forces experienced by a lightweight robot, with an average normal sensitivity of 0.8 grams/hair. The compliant polymer hairs detect both normal and shear contact, allowing the array to detect a variety of contact forces. By virtue of its design, the hair sensor array can be fabricated using a roll-to-roll layered process. We demonstrate a straightforward application of the sensor technology on a hexapedal millirobot, using the array to both estimate average ground speed and detect high-centering when running over obstacles. This application is of particular interest for milliscale robots operating in rough terrain, where the risk of entrapment is high. Our results indicate that the hair sensor array can estimate ground speed and detect high-centering when running over simple geometric obstacles.
Starting Page	1956
Ending Page	1962
File Size	478052
Page Count	7
File Format	PDF
ISBN	9781467317375
ISSN	21530858
e-ISBN	9781467317368
DOI	10.1109/IROS.2012.6386143
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-10-07
Publisher Place	Portugal
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot sensing systems Hair Arrays Contacts Legged locomotion Copper
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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