Development of the Robotic Touch foot Sensor for 2D walking Robot, for Studying Rough Terrain Locomotion

Abstract

Many researchers have been developing biped walking robots with excellent techniques and advanced technologies. However, ordinary locomotion is executed on even terrain such as flat surface. This means that many researches are focusing much on image processing, programing techniques and newly suggested devices, but not much research is being done on the proper sensors to robotic feet. Regarding robot gaits on unknown ground, one of the most significant determinations is to investigate balance by itself. A new sensor was studied for the robotic foot in order to allow walking on rough ground by sensing variations in the pressure profile on the foot. The primary purpose of this study is to provide a proper foot sensor for Jaywalker. The Jaywalker has been developed by the Intelligent Systems and Automation Laboratory. Jaywalker provides a good platform for the study of rough terrain walking. The sensor to be developed for the robot must be applicable to every structure and flexible and able to impulsive forces, as well as having a reasonable manufacturing cost.The main concept of this new type of sensor is to utilize the special application and design of inductive touch sensors. The Propeller microprocessor plays an important role in the control of the new sensor. The results of this study indicate that the new inductive sensor can be useful as a robotic foot sensor for the study of rough terrain walking.