Risk evaluation of ground surface using multichannel foot sensors for biped robots

Author

Asano, Futoshi ; Asoh, Hidek ; Morisawa, Masayuki ; Kajita, Shugo ; Yokoi, Katsutaka

Author_Institution

Dept. of Comput. Sci., Kogakuin Univ., Tokyo, Japan

fYear

2014

fDate

16-18 Oct. 2014

Firstpage

61

Lastpage

65

Abstract

In this paper, a method to calculate a risk index for the walking of biped robots in uneven terrain using the information of foot sensors is proposed. First, a feature for detecting unexpected large disturbances is extracted from the foot sensor observations using the 4th order moment. Next, the extracted multichannel features are mapped into a single risk index using the logistic regression model. In the experiment, the proposed index showed a high value indicating risk before the robot fell and when an equivalent large force was observed.

Keywords

legged locomotion; logistics; regression analysis; risk analysis; biped robots; ground surface; logistic regression model; multichannel foot sensors; risk evaluation; risk index; uneven terrain; Foot; Indexes; Legged locomotion; Logistics; Robot sensing systems; 4th order moment; biped robot; foot sensor; logistic regression; risk index;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotic and Sensors Environments (ROSE), 2014 IEEE International Symposium on

Conference_Location

Timisoara

Print_ISBN

978-1-4799-4927-4

Type

conf

DOI

10.1109/ROSE.2014.6952984

Filename

6952984