期刊名称：Journal of Automation, Mobile Robotics & Intelligent Systems (JAMRIS)
印刷版ISSN：1897-8649
电子版ISSN：2080-2145
出版年度：2013
卷号：7
期号：2
页码：18
出版社：Industrial Research Inst. for Automation and Measurements, Warsaw
摘要：This paper describes the ground classifica�on procedurefor a six-legged walking robot. The terrain is classifiedaccording to the informa�on gathered with the 6-DOFtorque-force sensors. The sta�s�cal descrip�on of the obtainedsignals allow to obtain compact representa�on ofthe contact type for each 6-DOF component. Namely, the4-element vector �variance, skewness, kurtosis, fi�h moment]was used. Subsequently Discriminant Analysis wasapplied separately for classifica�on of each component ofthe 6-DOF vector. The signal which gives the best classifi-ca�on rate was established. The obtained result providesthe informa�on for the design of the new contact sensorsfor the robot feet.
