论文标题
在Tactip Toes上行走：步行机器人的触觉脚
Walking on TacTip toes: A tactile sensing foot for walking robots
论文作者
论文摘要
尽管在不平坦的地形上行走时可能会带来一些好处，但对步行机器人的触觉脚的研究很少。本文描述了基于高分辨率仿生触觉传感器的腿部机器人的简单，健壮和廉价的触觉脚的开发。进行了一些设计改进，以促进行走时触觉感应，包括使用磷光标记来消除内部LED照明的需求。在执行梁行走任务的四足机器人上验证脚的有用性，发现传感器可防止机器人从光束上掉下来。此外，此功能还使机器人可以沿弯曲桌的边缘行走。可以轻松地修改这种触觉脚部设计，以与任何腿部机器人一起使用，包括更大的步行机器人，从而在充满挑战的地形中稳定行走。
Little research into tactile feet has been done for walking robots despite the benefits such feedback could give when walking on uneven terrain. This paper describes the development of a simple, robust and inexpensive tactile foot for legged robots based on a high-resolution biomimetic TacTip tactile sensor. Several design improvements were made to facilitate tactile sensing while walking, including the use of phosphorescent markers to remove the need for internal LED lighting. The usefulness of the foot is verified on a quadrupedal robot performing a beam walking task and it is found the sensor prevents the robot falling off the beam. Further, this capability also enables the robot to walk along the edge of a curved table. This tactile foot design can be easily modified for use with any legged robot, including much larger walking robots, enabling stable walking in challenging terrain.
