Behavior of a Walking Humanoid Robot with the Tactile sensings of Soles

摘要

This paper presents an acquisition of the force distributions acting on soles of feet by using the tactile sensors and behaviors of a walking humanoid robot. As the foot of a walking humanoid robot feels a step edge of the stairs, the sole tactile sensors make collection of its patterns data. We succeeded experimentally that the humanoid robot goes up the stairs by changing the its posture based upon the sensing of the sole tactile sensors.