Nonvisual Classification of Ground-Condition by Artificial Proprioception in an Amoeba-Inspired Autonomous Walking Robot

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.

Robotics (cs.RO); Artificial Intelligence (cs.AI); Machine Learning (cs.LG); Systems and Control (eess.SY)

arXiv:2608.05684 [cs.RO]

(or arXiv:2608.05684v1 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2608.05684 Focus to learn more arXiv-issued DOI via DataCite (pending registration)

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