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This paper presents a haptic sensor foot system for humanoid robot and an active tactile sensing technique to balance the humanoid robot with two legs for human and robot interaction task. The proposed sensors are implemented on two robotic foots. The sensor unit contains three thin sheets of force sensitive resistors. Those elements are arranged triangularly on the back of each foot. The research...
This paper presents a tactile sensor foot system for humanoid robot and an active tactile sensing technique to recognize a ground slope with experimental results. A tactile sensor unit implemented on the robot foot consists of three thin sheets of force sensitive resistors arranged triangularly with the peripheral circuits. The proposed tactile sensing foot can detect the ground slope for natural...
Passive-dynamic walkers are mechanical devices that walk down a slope without motors or controllers. In this paper we present in detail the incremental development of one such walker, the design stages we went through and its experimental results. We built a four-legged planar passive-dynamic walking machine with its inner and outer legs connected rigidly two by two, making it equivalent to a biped...
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