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A Flexible Multimodal Sole Sensor for Legged Robot Sensing Complex Ground Information during Locomotion
Recent achievements in the field of computer vision, reinforcement learning, and locomotion control have largely extended legged robots’ maneuverability in complex natural environments. However, little research focuses on sensing and analyzing the physical properties of the ground, which is crucial...
Autores principales: | , , , , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
MDPI
2021
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8399010/ https://www.ncbi.nlm.nih.gov/pubmed/34450801 http://dx.doi.org/10.3390/s21165359 |
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author | Xu, Yingtian Wang, Ziya Hao, Wanjun Zhao, Wenyu Lin, Waner Jin, Bingchen Ding, Ning |
author_facet | Xu, Yingtian Wang, Ziya Hao, Wanjun Zhao, Wenyu Lin, Waner Jin, Bingchen Ding, Ning |
author_sort | Xu, Yingtian |
collection | PubMed |
description | Recent achievements in the field of computer vision, reinforcement learning, and locomotion control have largely extended legged robots’ maneuverability in complex natural environments. However, little research focuses on sensing and analyzing the physical properties of the ground, which is crucial to robots’ locomotion during their interaction with highly irregular profiles, deformable terrains, and slippery surfaces. A biomimetic, flexible, multimodal sole sensor (FMSS) designed for legged robots to identify the ontological status and ground information, such as reaction force mapping, contact situation, terrain, and texture information, to achieve agile maneuvers was innovatively presented in this paper. The FMSS is flexible and large-loaded (20 Pa–800 kPa), designed by integrating a triboelectric sensing coat, embedded piezoelectric sensor, and piezoresistive sensor array. To evaluate the effectiveness and adaptability in different environments, the multimodal sensor was mounted on one of the quadruped robot’s feet and one of the human feet then traversed through different environments in real-world tests. The experiment’s results demonstrated that the FMSS could recognize terrain, texture, hardness, and contact conditions during locomotion effectively and retrain its sensitivity (0.66 kPa(−1)), robustness, and compliance. The presented work indicates the FMSS’s potential to extend the feasibility and dexterity of tactile perception for state estimation and complex scenario detection. |
format | Online Article Text |
id | pubmed-8399010 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2021 |
publisher | MDPI |
record_format | MEDLINE/PubMed |
spelling | pubmed-83990102021-08-29 A Flexible Multimodal Sole Sensor for Legged Robot Sensing Complex Ground Information during Locomotion Xu, Yingtian Wang, Ziya Hao, Wanjun Zhao, Wenyu Lin, Waner Jin, Bingchen Ding, Ning Sensors (Basel) Article Recent achievements in the field of computer vision, reinforcement learning, and locomotion control have largely extended legged robots’ maneuverability in complex natural environments. However, little research focuses on sensing and analyzing the physical properties of the ground, which is crucial to robots’ locomotion during their interaction with highly irregular profiles, deformable terrains, and slippery surfaces. A biomimetic, flexible, multimodal sole sensor (FMSS) designed for legged robots to identify the ontological status and ground information, such as reaction force mapping, contact situation, terrain, and texture information, to achieve agile maneuvers was innovatively presented in this paper. The FMSS is flexible and large-loaded (20 Pa–800 kPa), designed by integrating a triboelectric sensing coat, embedded piezoelectric sensor, and piezoresistive sensor array. To evaluate the effectiveness and adaptability in different environments, the multimodal sensor was mounted on one of the quadruped robot’s feet and one of the human feet then traversed through different environments in real-world tests. The experiment’s results demonstrated that the FMSS could recognize terrain, texture, hardness, and contact conditions during locomotion effectively and retrain its sensitivity (0.66 kPa(−1)), robustness, and compliance. The presented work indicates the FMSS’s potential to extend the feasibility and dexterity of tactile perception for state estimation and complex scenario detection. MDPI 2021-08-09 /pmc/articles/PMC8399010/ /pubmed/34450801 http://dx.doi.org/10.3390/s21165359 Text en © 2021 by the authors. https://creativecommons.org/licenses/by/4.0/Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/). |
spellingShingle | Article Xu, Yingtian Wang, Ziya Hao, Wanjun Zhao, Wenyu Lin, Waner Jin, Bingchen Ding, Ning A Flexible Multimodal Sole Sensor for Legged Robot Sensing Complex Ground Information during Locomotion |
title | A Flexible Multimodal Sole Sensor for Legged Robot Sensing Complex Ground Information during Locomotion |
title_full | A Flexible Multimodal Sole Sensor for Legged Robot Sensing Complex Ground Information during Locomotion |
title_fullStr | A Flexible Multimodal Sole Sensor for Legged Robot Sensing Complex Ground Information during Locomotion |
title_full_unstemmed | A Flexible Multimodal Sole Sensor for Legged Robot Sensing Complex Ground Information during Locomotion |
title_short | A Flexible Multimodal Sole Sensor for Legged Robot Sensing Complex Ground Information during Locomotion |
title_sort | flexible multimodal sole sensor for legged robot sensing complex ground information during locomotion |
topic | Article |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8399010/ https://www.ncbi.nlm.nih.gov/pubmed/34450801 http://dx.doi.org/10.3390/s21165359 |
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