INFLUENCE OF WALKING SPEED AND DIRECTION OF MOVEMENT ON TACTILE GROUND CLASSIFICATION PROCESS

This article focuses on the influence of walking speed and direction of the robot movement on the tactile ground classification. The perception system comprise force/torque sensor mounted on the foot of a six-legged robot. The force/torque signals are registered during the negotiation of several terrains. Next, based on the statistical or spectral analysis of the signal the robot is able to classify the terrain. In this paper we are concentrated on the influence of the walking speed and the direction of the robot movement on the classification performance. The results obtained proved that it is possible to learn the characteristics of the terrain using generalized classifier, which is trained on the dataset containing measurements acquired for the whole range of the selected gait parameter.