脚先の接触判定のためのバルーン型柔軟触覚センサの開発

―センサの要素としての圧力センサとひずみゲージの比較―

抄録

For legged robots, detecting the collision with the ground is crucial for their stabel locomotion. In this report, we propose a new flexible balloon-shaped sensor, which can be attached to legged robots’foot. The sensor consists of a balloon made from silicone rubber, a tube. The pressure sensor and the strain gauge are the candidates for the sensing element. 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. On the other hand, the deformation can be directly measured by a strain gauge. We conducted and experiment and compared the delay time of these sensing elements. As a result, we confirmed that the strain gauge is better in terms of the delay time. However, we also considered that the pressure sensor could detect the collision from any directions.