In this paper, we propose a method to evaluate slipperiness of a place where a foot of a legged robot collides. This method will enable the robot to prevent a slip even if the slipperiness is unexpected, whereas conventional robots have no choice but to presume the slipperiness. We show a MEMS local slip sensor is applicable to not only static situations but also dynamic situations like collision. We tested the sensor by dropping it vertically against three types of surfaces which varied in slipperiness. The results show the three surfaces can be distinguished during the collision by monitoring the sensor response.
|Title of host publication
|2019 IEEE 32nd International Conference on Micro Electro Mechanical Systems, MEMS 2019
|Institute of Electrical and Electronics Engineers Inc.
|Number of pages
|Published - 2019 Jan
|32nd IEEE International Conference on Micro Electro Mechanical Systems, MEMS 2019 - Seoul, Korea, Republic of
Duration: 2019 Jan 27 → 2019 Jan 31
|Proceedings of the IEEE International Conference on Micro Electro Mechanical Systems (MEMS)
|32nd IEEE International Conference on Micro Electro Mechanical Systems, MEMS 2019
|Korea, Republic of
|19/1/27 → 19/1/31