Control of Four-legged Robot Using Pressure Sensor on Toe

Abstract

This paper deals with control of our four-legged robot with a pressure sensor on each foot. By using a pressure sensor, we measured the force on the toe, which we can utilize to control the angular velocity of the toe trajectory. We use FSR as a pressure sensor due to its light weight and thin dimension, although its accuracy is not good and it has only one dimension. We conducted experiments and succeeded in discrimination of gait. Then, we implemented the control method mentioned above and found that the gait changed to the bound gait from the walk or the trot gait. We think that this result caused by some mechanical conditions in the experiment.