Bi-Modal Hemispherical Sensor: A Unifying Solution for Three Axis Force and Contact Angle Measurement

Chuah, Meng Yee; Epstein, Lindsay; Kim, Dong-Hyun; Romero, Juan Antonio Martos; Kim, Sangbae

doi:10.1109/iros40897.2019.8967878

Cited by 4 publications

(2 citation statements)

References 16 publications

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“…Piezo-resistive sensors alone can be fragile in wet and dusty conditions such as those encountered on outdoor terrains. Thus, in this study, a custom force sensor that is dust-tight and waterproof is used ( Chuah, 2018 ; Chuah et al, 2019 ). As this force sensor is capable of measuring up to 450N, it is ideal for probing outdoor environments such as soft soil or a water puddle.…”

Section: Related Workmentioning

confidence: 99%

“…The custom force sensor is designed for identifying single-point contact and is attached to the endpoint of the probing arm. It is a simplified design based on the author’s previous works ( Chuah, 2018 ; Chuah et al, 2019 ), whereby it uses only an array of four piezo-resistive sensors compared to the eight used previously. This is because only forces in the normal direction are of interest during probing; hence, including additional sensors are superfluous.…”

Section: Terrain Probing and Collapsibility Analysismentioning

confidence: 99%

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Traversability analysis with vision and terrain probing for safe legged robot navigation

et al. 2022

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Inspired by human behavior when traveling over unknown terrain, this study proposes the use of probing strategies and integrates them into a traversability analysis framework to address safe navigation on unknown rough terrain. Our framework integrates collapsibility information into our existing traversability analysis, as vision and geometric information alone could be misled by unpredictable non-rigid terrains such as soft soil, bush area, or water puddles. With the new traversability analysis framework, our robot has a more comprehensive assessment of unpredictable terrain, which is critical for its safety in outdoor environments. The pipeline first identifies the terrain’s geometric and semantic properties using an RGB-D camera and desired probing locations on questionable terrains. These regions are probed using a force sensor to determine the risk of terrain collapsing when the robot steps over it. This risk is formulated as a collapsibility metric, which estimates an unpredictable region’s ground collapsibility. Thereafter, the collapsibility metric, together with geometric and semantic spatial data, is combined and analyzed to produce global and local traversability grid maps. These traversability grid maps tell the robot whether it is safe to step over different regions of the map. The grid maps are then utilized to generate optimal paths for the robot to safely navigate to its goal. Our approach has been successfully verified on a quadrupedal robot in both simulation and real-world experiments.

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Section: Related Workmentioning

confidence: 99%

Section: Terrain Probing and Collapsibility Analysismentioning

confidence: 99%