Realization of multi-modal sensing with conductive cloth and shape estimation of pathway by mobile robot

Abstract

This paper explains the characteristics of a flexible and stretchable sensor in which a conductive cloth is embedded in silicone, and the “scanning” in which a water-driven robot equipping the sensor estimates a shape of pathway. The cloth measures the change in capacitance not only by the extension of the sensor but also by the approach of conductive object, that is, multi-modal sensing. In scanning, the shape of obstacles such as width and height of gap between the floor and obstacle is estimated from the profile in the capacitance of the conductive cloth according to the movement of the soft robot.