Indirect Contact Detection by Sensing High-frequency Vibration through a Timing Belt to Drive an Arm Joint for Disaster Response Robots

Abstract

In this study, a detection method of robot crawler contacting condition for our crawler type robot is described. This detection is achieved by analyzing the vibration signal gathered by a vibration sensor which is can be installed to contact with a timing belt to drive the sub-crawlers. The preliminary experiment results show the detection possibility of the proposed method.