Risk Evaluation of Ground Surface Using Multichannel Foot Sensors for Biped Robots

被引：0
|
作者：
Asano, Futoshi [1 ]
Asoh, Hidek [2 ]
Morisawa, Mitsuharu [2 ]
Kajita, Shuuji [2 ]
Yokoi, Kazuhito [2 ]
机构：
[1] Kogakuin Univ, Dept Comp Sci, Tokyo 1638677, Japan
[2] Natl Inst Adv Ind Sci & Technol, Tsukuba, Ibaraki, Japan
来源：
2014 IEEE INTERNATIONAL SYMPOSIUM ON ROBOTIC AND SENSORS ENVIRONMENTS (ROSE 2014) | 2014年
关键词：
biped robot; foot sensor; risk index; logistic regression; 4th order moment;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
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.
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页数：5
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