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Development of Foot Contact Sensors for a Crawling Platform

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Modelling and Simulation for Autonomous Systems (MESAS 2018)

Part of the book series: Lecture Notes in Computer Science ((LNISA,volume 11472))

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Abstract

Walking machines are a good compromise between flying machines with a small payload and wheeled machines with limited terrain crossing capabilities for displacements on strongly uneven terrain, such as in search and rescue missions. This paper presents the hardware development of a hexapod crawling robot, in particular the development and integration of foot contact sensors. The development is based on Trossen Robotics’ PhantomX hexapod robotics kit. In its original version, the robot is only meant to be remote controller without any feedback from exteroceptive sensors. We present here a new foot contact sensor providing the required feedback for the contact between the robot’s foot and the ground and their electronic integration in the rest of the system.

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Notes

  1. 1.

    The authors want to acknowledge Prague’s School of Chemistry for providing such balloons in a material that does not alter with the time as quickly as some cheap balloons tested.

References

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Acknowledgments

This work was supported by the Technology Agency of the Czech Republic under project TE01020197 Center for Applied Cybernetics 3.

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Authors and Affiliations

  1. Czech Insitute of Informatics, Robotics, and Cybernetics, Czech Technical University in Prague, Jugoslávských partyzáů 3, 160 00, Prague, Czech Republic

    Gaël Écorchard & Libor Přeučil

Authors
  1. Gaël Écorchard
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  2. Libor Přeučil
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Corresponding author

Correspondence to Gaël Écorchard .

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Editors and Affiliations

  1. NATO Modelling and Simulation Centre of Excellence, Rome, Italy

    Jan Mazal

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Écorchard, G., Přeučil, L. (2019). Development of Foot Contact Sensors for a Crawling Platform. In: Mazal, J. (eds) Modelling and Simulation for Autonomous Systems. MESAS 2018. Lecture Notes in Computer Science(), vol 11472. Springer, Cham. https://doi.org/10.1007/978-3-030-14984-0_19

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  • DOI: https://doi.org/10.1007/978-3-030-14984-0_19

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-14983-3

  • Online ISBN: 978-3-030-14984-0

  • eBook Packages: Computer ScienceComputer Science (R0)

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