Nonvisual Classification of Ground-Condition by Artificial Proprioception in an Amoeba-Inspired Autonomous Walking Robot
arXiv:2608.05684v1 Announce Type: new Abstract: Nonvisual classification of ground condition based on a multimodal sensing approach was investigated for an amoeba-inspired autonomous walking robot. To classify ground condition without image sensing and processing, we implemented artificial proprioception by integrating a three-axis accelerometer, eight foot pressure sensors, and reservoir computing (RC). Even when large fluctuations in the sensor outputs are caused by dynamic motions of a four-
Overview
arXiv:2608.05684v1 Announce Type: new Abstract: Nonvisual classification of ground condition based on a multimodal sensing approach was investigated for an amoeba-inspired autonomous walking robot. To classify ground condition without image sensing and processing, we implemented artificial proprioception by integrating a three-axis accelerometer, eight foot pressure sensors, and reservoir computing (RC). Even when large fluctuations in the sensor outputs are caused by dynamic motions of a four-legged robot in walking, our system can classify the ground condition, flat or rough, with high accuracy. We demonstrate on-site switching of walking gait depending on ground condition in the robot. We also discuss the contribution of each sensor to ground condition classification.
Source
Originally published at arxiv.org.
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Source: https://arxiv.org/abs/2608.05684