Abstract
When quadruped robots walk on unknown and uneven terrain, it needs sole which can detect terrain and transform along terrain. Therefore we developed the active-deformable sole for terrain-adaptive quadruped walking robot which has active ankle, whisker sensors, and terrain adapting sole. We developed 2 types whisker sensor. One is digital type, which detect terrain by electrodes contacting, and another is analog type, which detect terrain by photointerrupter. Also we experimented 2 types whisker sensor and confirm their detecting. Terrain adapting sole has rubber balls and pressure sensors, and it has 3 function, terrain adapting, shock-absorbing, and contact pressure measuring. We confirmed it can accurately measure COP and load.
