Sense of motion : tactile sensing for robotic locomotion
Abstract/Contents
- Abstract
- This thesis explores the design and use of tactile sensors to enable small mobile robots to better understand the world on which they are walking, running, and climbing. Our goal is to extend the capabilities of small, mobile robotic systems through the development and application of low-cost, light-weight, robust tactile sensors capable of measuring dynamic contact events and forces associated with locomotion. Specifically, we explore capacitive tactile sensor designs that enable the measurement of shear and normal forces with near equal sensitivity and dynamic performance. We demonstrate the use of these sensors on two robotic platforms. The first is a small hexapedal robot with hybrid wheel-legs that interface with a variety of rough outdoor terrains. The second is a miniature robot that uses bio-inspired controllable adhesives to maintain sustained and forceful contact with the world. In both cases we show that feedback from integrated tactile sensors enables these robots to identify key features of the surfaces on which they are traveling, leading to improved mobility and robust behavior.
Description
| Type of resource | text |
|---|---|
| Form | electronic; electronic resource; remote |
| Extent | 1 online resource. |
| Publication date | 2017 |
| Issuance | monographic |
| Language | English |
Creators/Contributors
| Associated with | Wu, Xin Alice |
|---|---|
| Associated with | Stanford University, Department of Mechanical Engineering. |
| Primary advisor | Cutkosky, Mark R |
| Thesis advisor | Cutkosky, Mark R |
| Thesis advisor | Kenny, Thomas William |
| Thesis advisor | Okamura, Allison |
| Advisor | Kenny, Thomas William |
| Advisor | Okamura, Allison |
Subjects
| Genre | Theses |
|---|
Bibliographic information
| Statement of responsibility | Xin Alice Wu. |
|---|---|
| Note | Submitted to the Department of Mechanical Engineering. |
| Thesis | Thesis (Ph.D.)--Stanford University, 2017. |
| Location | electronic resource |
Access conditions
- Copyright
- © 2017 by Xin Alice Wu
- License
- This work is licensed under a Creative Commons Attribution Non Commercial 3.0 Unported license (CC BY-NC).
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