STAF: Interaction-Based Design and Evaluation of Sensorized Terrain-Adaptive Foot for Legged Robot Traversing on Soft Slopes

Yao，Chen1; Shi，Guowei1; Xu，Peng2; Lyu，Shipeng3; Qiang，Zhiyang1; Zhu，Zheng1; Ding，Liang2; Jia，Zhenzhong1

2024

10.1109/TMECH.2024.3350183

IEEE/ASME Transactions on Mechatronics   影响因子和分区

1083-4435

1941-014X

Legged robots have been widely used in unstructured field environments, where unforeseen nongeometric hazards, such as sinkage or slippage might compromise their mobility. Such uncertain terrain-related risks may be very challenging to mitigate by employing point or ball-shaped feet, however, determining the appropriate principles for foot design remains an open-research problem. This study presents a systematic pipeline of design and evaluations for the sensorized terrain-adaptive foot (STAF) aiming to remodel the underlying soft, sloped granular media. The advanced foot configuration enables explicit characterization of complex foot-terrain interaction responses, thereby facilitating evidence-based evaluations using proposed terrain physical metrics and terrain traveling metrics. These terrain-aware metrics are interpretable, physics-informed, and versatile for various robot prototypes. Compared to traditional empirical foot design methods, our model-based guideline can reliably identify physical terrain properties and explain contact behavior to optimize the foot sole's primary parameters. We conduct multiple experiments on both the single-foot testbed and a quadruped robot. The findings demonstrate that our developed STAF system significantly enhances mobility and in situ sensing capabilities over loose deformable slopes.

Analytical models Deformable slopes Foot Force Legged locomotion legged robots Measurement Robot sensing systems sensorized terrain-adaptive foot (STAF) Soil traveling metrics

SCI ; EI

英语

第一

ENGINEERING

2-s2.0-85183993768

Scopus

1.Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems, Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China
2.Harbin of Institute of Technology, Harbin, China
3.Department of Mechanical Engineering, Hong Kong Polytechnic University, Hong Kong, China

Yao，Chen,Shi，Guowei,Xu，Peng,et al. STAF: Interaction-Based Design and Evaluation of Sensorized Terrain-Adaptive Foot for Legged Robot Traversing on Soft Slopes[J]. IEEE/ASME Transactions on Mechatronics,2024,PP(99):1-12.

Yao，Chen.,Shi，Guowei.,Xu，Peng.,Lyu，Shipeng.,Qiang，Zhiyang.,...&Jia，Zhenzhong.(2024).STAF: Interaction-Based Design and Evaluation of Sensorized Terrain-Adaptive Foot for Legged Robot Traversing on Soft Slopes.IEEE/ASME Transactions on Mechatronics,PP(99),1-12.

Yao，Chen,et al."STAF: Interaction-Based Design and Evaluation of Sensorized Terrain-Adaptive Foot for Legged Robot Traversing on Soft Slopes".IEEE/ASME Transactions on Mechatronics PP.99(2024):1-12.