Tactile sensing by the sole of the foot: part i: apparatus and initial experiments toward obtaining dynamic pressure maps useful for stabilizing standing, walking, and running of humanoid robots

Abhinav Kalamdani, Christopher Hugh Messom, and Mel Siegel
IEEE International Workshop on Haptic Audio Visual Environments and their Applications, 2006, November, 2006, pp. 147-151.


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Abstract
This paper introduces prototype experimental apparatus to investigate stability in standing, walking and running of humanoid robots using pressure sensing at the foot contact. The preliminary experiments show that the system can provide very good spatial or temporal resolution and these can be traded off each other given the problem at hand, such as the sparsely sampled whole foot during static balancing or the densely sampled impact point of the foot during walking or running. The prototype apparatus, experimental result, and dynamic models of the system will give insight into the nature of balance control.

Notes
Associated Center(s) / Consortia: Center for Integrated Manfacturing Decision Systems
Associated Lab(s) / Group(s): Intelligent Sensor, Measurement, and Control Lab
Number of pages: 5

Text Reference
Abhinav Kalamdani, Christopher Hugh Messom, and Mel Siegel, "Tactile sensing by the sole of the foot: part i: apparatus and initial experiments toward obtaining dynamic pressure maps useful for stabilizing standing, walking, and running of humanoid robots," IEEE International Workshop on Haptic Audio Visual Environments and their Applications, 2006, November, 2006, pp. 147-151.

BibTeX Reference
@inproceedings{Kalamdani_2006_5699,
   author = "Abhinav Kalamdani and Christopher Hugh Messom and Mel Siegel",
   title = "Tactile sensing by the sole of the foot: part i: apparatus and initial experiments toward obtaining dynamic pressure maps useful for stabilizing standing, walking, and running of humanoid robots",
   booktitle = "IEEE International Workshop on Haptic Audio Visual Environments and their Applications, 2006",
   pages = "147-151",
   month = "November",
   year = "2006",
}