An experimental study on surface state description by wiping motion for the estimation of floor surface condition using indoor search robot

[摘要] In this paper, we aimed to establish a novel method for surface condition measurement for the indoor floor. To measure the surface condition, we proposed wiping motion that to stroke the target surface with changing the stroking speed. We developed the wiping device with a 6-axis force sensor, a passive pivot, and a contact plate to realize the wiping motion. In the experiment, the surface condition was measured using four kinds of floor materials and two kinds of liquids. From the experimental results, it was confirmed that the resistance force depends on the wiping velocity. From the experimental results, we confirmed the effectiveness of the proposed method and examined the quantitative index used for surface state description.

[学科分类] 人工智能

[关键词] Surface condition;Wiping motion;Dynamic frictional force;Floor reaction force;23rd Robotics Symposia