Slippery and sandy ground detection for hexapod robots based on organic computing principles and somatosensory feedback

A. Al-Homsy; J. Hartmann; E. Maehle

doi:10.1109/ROSE.2012.6402620

Slippery and sandy ground detection for hexapod robots based on organic computing principles and somatosensory feedback

A. Al-Homsy, J. Hartmann, E. Maehle

Institute of Computer Engineering

Abstract

Insect-like walking of six-legged robots on unstructured and rough terrain is considered a challenging task. Furthermore, the properties of the walking ground are considered an important issue and a challenge to insure stable adaptive walking. This paper will shed light on the applied decentralized controller approach for detecting slippery and sandy ground and also presents the proposed strategies to overcome these challenges. The novelty of our approach is the evaluation of the local current consumption and angular position of each leg's joint as somatosensory feedback. Backward walking is proposed as a reflex reaction once a slippery ground is detected and an adaptive walking as soon as the robot detects sandy ground. Our approach is based on an organic computing architecture and was tested on a low-cost version of the OSCAR walking robot.

Original language	English
Title of host publication	2012 IEEE International Symposium on Robotic and Sensors Environments Proceedings
Number of pages	6
Publisher	IEEE
Publication date	01.11.2012
Pages	43-48
Article number	6402620
ISBN (Print)	978-1-4673-2705-3
ISBN (Electronic)	978-1-4673-2706-0
DOIs	https://doi.org/10.1109/ROSE.2012.6402620
Publication status	Published - 01.11.2012
Event	2012 10th IEEE International Symposium on Robotic and Sensors Environments - Magdeburg, Germany Duration: 16.11.2012 → 18.11.2012 Conference number: 95417

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10.1109/ROSE.2012.6402620

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title = "Slippery and sandy ground detection for hexapod robots based on organic computing principles and somatosensory feedback",

abstract = "Insect-like walking of six-legged robots on unstructured and rough terrain is considered a challenging task. Furthermore, the properties of the walking ground are considered an important issue and a challenge to insure stable adaptive walking. This paper will shed light on the applied decentralized controller approach for detecting slippery and sandy ground and also presents the proposed strategies to overcome these challenges. The novelty of our approach is the evaluation of the local current consumption and angular position of each leg's joint as somatosensory feedback. Backward walking is proposed as a reflex reaction once a slippery ground is detected and an adaptive walking as soon as the robot detects sandy ground. Our approach is based on an organic computing architecture and was tested on a low-cost version of the OSCAR walking robot.",

author = "A. Al-Homsy and J. Hartmann and E. Maehle",

year = "2012",

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doi = "10.1109/ROSE.2012.6402620",

language = "English",

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booktitle = "2012 IEEE International Symposium on Robotic and Sensors Environments Proceedings",

note = "2012 10th IEEE International Symposium on Robotic and Sensors Environments, ROSE 2012 ; Conference date: 16-11-2012 Through 18-11-2012",

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Al-Homsy, A, Hartmann, J & Maehle, E 2012, Slippery and sandy ground detection for hexapod robots based on organic computing principles and somatosensory feedback. in 2012 IEEE International Symposium on Robotic and Sensors Environments Proceedings., 6402620, IEEE Proceedings, IEEE, pp. 43-48, 2012 10th IEEE International Symposium on Robotic and Sensors Environments, Magdeburg, Saxony-Anhalt, Germany, 16.11.12. https://doi.org/10.1109/ROSE.2012.6402620

Slippery and sandy ground detection for hexapod robots based on organic computing principles and somatosensory feedback. / Al-Homsy, A.; Hartmann, J.; Maehle, E.
2012 IEEE International Symposium on Robotic and Sensors Environments Proceedings. IEEE, 2012. p. 43-48 6402620 (IEEE Proceedings).

Research output: Chapters in Books/Reports/Conference Proceedings › Conference contribution › peer-review

TY - GEN

T1 - Slippery and sandy ground detection for hexapod robots based on organic computing principles and somatosensory feedback

AU - Al-Homsy, A.

AU - Hartmann, J.

AU - Maehle, E.

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AB - Insect-like walking of six-legged robots on unstructured and rough terrain is considered a challenging task. Furthermore, the properties of the walking ground are considered an important issue and a challenge to insure stable adaptive walking. This paper will shed light on the applied decentralized controller approach for detecting slippery and sandy ground and also presents the proposed strategies to overcome these challenges. The novelty of our approach is the evaluation of the local current consumption and angular position of each leg's joint as somatosensory feedback. Backward walking is proposed as a reflex reaction once a slippery ground is detected and an adaptive walking as soon as the robot detects sandy ground. Our approach is based on an organic computing architecture and was tested on a low-cost version of the OSCAR walking robot.

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BT - 2012 IEEE International Symposium on Robotic and Sensors Environments Proceedings

PB - IEEE

T2 - 2012 10th IEEE International Symposium on Robotic and Sensors Environments

Y2 - 16 November 2012 through 18 November 2012

ER -

Slippery and sandy ground detection for hexapod robots based on organic computing principles and somatosensory feedback

Abstract

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