0

Full Content is available to subscribers

Subscribe/Learn More  >

Acoustic Surface Perception for Improved Mobility of Legged Robots

[+] Author Affiliations
Mine Cuneyitoglu Ozkul, Afsar Saranli, Yigit Yazicioglu

Middle East Technical University, Ankara, Turkey

Paper No. DETC2012-70638, pp. 75-83; 9 pages
doi:10.1115/DETC2012-70638
From:
  • ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B
  • Chicago, Illinois, USA, August 12–15, 2012
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-4503-5
  • Copyright © 2012 by ASME

abstract

A dynamically dexterous legged robot has the distinct property that the legs are continuously interacting with the environment. During walking and running, this interaction generates acoustic signals that carry considerable information about the surface being traversed, state of the robot legs and joint motors as well as the stability of the locomotion. Extracting a particular piece of information from this convolved acoustic signal however is an interesting and challenging area of research which we believe may have fundamental benefits for legged robotics research. For example, the identification of the surface that the robot travels on gives us the ability to dynamically adapt gait parameters hence improve dynamic stability. In the present paper, we investigate this particular sub-problem of surface identification using naturally occurring acoustic signals and present our results. We show that a spectral energy based feature set augmented by time derivatives and an average zero crossing rate carries enough information to accurately classify a number of commonly occurring indoor and outdoor surfaces using a popular higher dimensional vector quantizer classifier. Our experiments also suggest that VQ surface models may be velocity dependent. These initial results with a carefully collected but relatively limited dataset indicate a promising direction for our future research on improving outdoor mobility for dynamic legged robots.

Copyright © 2012 by ASME

Figures

Tables

Interactive Graphics

Video

Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

NOTE:
Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In