NDLI: The development of a robot terrain interaction system for walking machines

Content Provider	IEEE Xplore Digital Library
Author	Caurin, G. Tschichold-Gurman, N.
Copyright Year	1994
Description	Author affiliation: Inst. of Robotics, Eidgenossische Tech. Hochschule, Zurich, Switzerland (Caurin, G.; Tschichold-Gurman, N.)
Abstract	This paper presents a system which performs soil analysis and uses the acquired data to generate optimal step pattern and foot hold performances with respect to the terrain conditions. This approach also provides solutions for critical situations when the robot foot already slips or undergoes excessive sinkage. For soil analysis using the robot foot, a new sensor was developed and successfully implemented. This sensor is able to measure the relative movement between the foot and the ground. The soil properties are exploited using conventional control system optimization processes combined with fuzzy logic and neural networks. To serve as a test-bed for experiments, a half scale model of the walking machine RoboTRAC was constructed.
Starting Page	1013
Ending Page	1018
File Size	594774
Page Count	6
File Format	PDF
ISBN	0818653302
DOI	10.1109/ROBOT.1994.351224
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1994-05-08
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Legged locomotion Foot Robot sensing systems Pattern analysis Performance analysis Motion measurement Soil measurements Soil properties Process control Control systems
Content Type	Text
Resource Type	Article

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