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1 2015

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Leg's Tip-Ground Contact Detection Based on Drive Currents in a Real Walking Robot

Wąsik M.

Journal of Automation Mobile Robotics and Intelligent Systems

2015

Vol. 9, No. 1

62--67

To ensure an effective walking over uneven terrain for multilegged walking robots, there is necessary to detect the contact between the leg’s tips and the ground. It is essential to determine the moment when we should end the swing phase of the leg. This paper presents a method of detecting contact with the ground based on total current drawn by the servomotors of each robot’s legs. The method was developed using a 4-legs supported gait on 5-legged walking robot – PentOpiliones. This detection method has been tested and positively verified on a real robot. Also there has been tested the limitation of above method using a gait with different robot postures and different speeds.