Development of 6-axis Force/Moment Sensor for Humanoid Robot's Foot

Kim, Gab-Soon; Shin, Hyi-Jun; Yoon, Jungwon

doi:10.1109/icsens.2007.4388375

Cited by 3 publications

(2 citation statements)

References 3 publications

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“…They return a binary signal; are easy to use but often sensitive to mechanical damage. They are used for example in many hexapod robots [6] -strain gauges -depending on the number of sensors, they allow to measure forces and torques along many directions [5]. They perform an accurate measurement, but usually are larger and more expensive than mechanical switches.…”

Section: Introductionmentioning

confidence: 99%

Leg's Tip-Ground Contact Detection Based on Drive Currents in a Real Walking Robot

Wąsik¹

2015

JAMRIS

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To ensure an effective walking over uneven terrain for multilegged walking robots, there is necessary to detect the contact between the leg's tips and the ground. It is essential to determine the moment when we should end the swing phase of the leg. This paper presents a method of detecting contact with the ground based on total current drawn by the servomotors of each robot's legs. The method was developed using a 4-legs supported gait on 5-legged walking robot-PentOpiliones. This detection method has been tested and positively verified on a real robot. Also there has been tested the limitation of above method using a gait with different robot postures and different speeds.

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Section: Introductionmentioning

confidence: 99%

Leg's Tip-Ground Contact Detection Based on Drive Currents in a Real Walking Robot

Wąsik¹

2015

JAMRIS

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“…In addition, force sensor, which could measure the ground reaction force, plays an important role in flexible and stable locomotion, and several bio-robot foot has force sensor mounted at the ankle [4][5][6][7][8][9], but there is no one with integrated force sensor, which can make the bio-robot foot more compact and cost-effective.…”

Section: Introductionmentioning

confidence: 99%

Design and evaluation of a novel flexible bio-robotic foot/ankle based on parallel kinematic mechanism

Liang

Zhang

Song

et al. 2010

2010 IEEE International Conference on Mechatronics and Automation

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In this paper, we address the design and evaluation of a novel flexible bio-robotic foot/ankle based on parallel mechanism with three identical UPS prismatic-actuated limbs and a central UR passive limb. After discussing the advantages of using the PKM, the kinematics problem of the PKM are investigated. In particular, to measure the action force at the foot when the bio-robot maintains balance or moves, the cross shaft of the U-joint in the passive limb is modified and intended to be used as an elastic element of the force sensor. Then the development of the integrated force sensor is introduced in detail. The design is helpful for both reliable architecture design and performance improvement of the bio-robot foot/ankle. Index Terms-Bio-robot, parallel kinematic mechanism, integrated F/T sensor, machine design.

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