Doctoral Research Seminar on: "Plantar Tactile Feedback For Biped Balance And Locomotion On Unknown Terrain"


Title: Plantar Tactile Feedback For Biped Balance And Locomotion On Unknown Terrain by Julio Rogelio Guadarrama Olvera, ICS/TUM

Abstract: This work introduces a new sensing system for biped robots based on plantar robot skin, which provides not only the resultant forces applied on the ankles but a precise shape of the pressure distribution in the sole together with other extra sensing modalities (temperature, pre-touch, and acceleration). The information provided by the plantar robot skin can be used to compute the center of pressure and the ground reaction forces. This information also enables the online construction of the supporting polygon and its preemptive shape before foot landing using the proximity sensors in the robot skin. Two experiments were designed to show the advantages of this new sensing technology for improving balance and walking controllers for biped robots over unknown terrain.

Paper: https://doi.org/10.1142/S0219843619500361

The seminar will take place on July 20th at 11h online.