脚先接触判定のための柔軟膜センサシステムの開発

抄録

In this report, we propose a flexible balloon sensor for detecting the foot-ground interaction of four-legged robots. The sensor consists of a balloon made from silicone rubber, a tube, and a pressure sensor, which can be installed on the robot’s toes. When the toe touches the ground, the balloon deformed, then the air pressure inside the balloon increases, which can be measured by a pressure sensor. We fabricated a balloon using molds fabricated by a 3D printer. We conducted an experiment to evaluate its effectiveness and the delay time. We built a jig with a photoelectric sensor for detecting the moment when the sensor touches the ground. In addition, we also conducted an experiment to investigate the effect of length of the tube connecting the balloon to the pressure sensor on the delay.