Learning-Based Analysis of a New Wearable 3D Force System Data to Classify the Underlying Surface of a Walking Robot

Biped humanoid robots that operate in real-world environments need to be able to physically recognize different floors to best adapt their gait. In this work, we describe the preparation of a dataset of contact forces obtained with eight force tactile sensors for determining the underlying surface of a walking robot. The data is acquired for four floors with different coefficient of friction, and different robot gaits and speeds. To classify the...