High-speed pressure sensor grid for humanoid robot foot

Takahashi, Yasumori; Nishiwaki, Koichi; Kagami, Satoshi; Mizoguchi, Hiroshi; Inoue, H.

doi:10.1109/iros.2005.1545126

Cited by 33 publications

(20 citation statements)

References 6 publications

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“…For each driven row k of the array, all potentials on each row j and column i have to be determined and bypass currents have to be compensated mathematically. As proposed in [17], for each column i Kirchhoff's current law (1) can be used to calculate the conductances of that column.…”

Section: Sensory Processingmentioning

confidence: 99%

“…The solutions of the linear systems of equations are the unknown conductances. One way of solving the equations is to invert matrix M i and calculate X i for each i as suggested in [17]. In lieu of up to seven matrix inversions, the linear systems of equations are solved using Gaussian elimination.…”

Section: Sensory Processingmentioning

confidence: 99%

“…An update frequency of up to 3 kHz/Taxel was denoted. The approach mentioned in [17] utilizes an amplifier and ADC for each column and row. Here, the update frequency was stated to be up to 1 MHz/Taxel.…”

Section: Sensory Processingmentioning

confidence: 99%

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An adaptive sensor foot for a bipedal and quadrupedal robot

Fondahl

Kuehn

Beinersdorf

et al. 2012

2012 4th IEEE RAS &Amp; EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob)

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One key benefit of legged robots is their ability to act on the environment by applying forces in a noncontinuous way in innumerous directions and magnitudes within their designed workspace. Most multi-legged robots are equipped with single-point-contact feet for the sake of simplicity in design and control. This paper focuses on a sophisticated lower limb system for a multi-legged robot to demonstrate the advantages of actuated multi-point-contact feet. Indications for these advantages can be found in nature, where the mechanical and sensory interaction of the feet with the substrate enables highly flexible ways of locomotion in animals and helps to optimize traction. Multi-point-contact feet even enable the transition from quadrupedal to bipedal walking, a dexterous behavior of ape-like mammals. To prove the technical plausibility of the planned leg structure, a first prototype including a lower leg, an actuated ankle joint, an attached foot structure, and a set of sensors with their required electronics was developed and integrated. Due to its characteristics, the lower limb -as a subcomponent of a legged robotic system -will extend the robot's knowledge of its internal and the environmental states. The mechanical and electronic design of the foot structure is presented in this paper as the basis for a later development of a biologically inspired control scheme.

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Section: Sensory Processingmentioning

confidence: 99%

Section: Sensory Processingmentioning

confidence: 99%

See 1 more Smart Citation

An adaptive sensor foot for a bipedal and quadrupedal robot

Fondahl

Kuehn

Beinersdorf

et al. 2012

2012 4th IEEE RAS &Amp; EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob)

View full text Add to dashboard Cite

show abstract

“…On the other hand, the University of Yokohama's Mari used a film-type forcesensing resistor (FSR) for the sole of the foot [7]. Meanwhile, University of Tokyo has developed a matrix array sensor, which is applied to the sole of the foot of H7 [8]. These sensors have lower performance than the load cell-type force sensor, but it has the advantages of being low cost, flexible, thin, and light weight.…”

Section: Introductionmentioning

confidence: 99%

Fabrication of four-point biped robot foot module based on contact-resistance force sensor and its evaluation

Kwon¹,

Kim²,

Kim³

et al. 2011

J Mech Sci Technol

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This paper presents the design of robot foot module of four-point biped walking robot and its fabrication. The foot module has four sensor units based on contact-resistance force sensor. The thin-film-type force sensor is fabricated by coating resistive ink on thin polyimide film using silk screening technique. The simple structure is devised and fabricated to assemble the thin force sensor rigidly. The unit force sensor module is evaluated by the calibration setup to obtain the characteristics of repeatability and hysteresis. The sensor module presents hysteresis error of about 5% and repeatability error of about 0.37%. The calculated zero moment point (ZMP) of the foot module is also compared with the measured position using static load of 50 N. The maximum location error of ZMP is less than 10%. The robot foot module shows the possibility of applying it to humanoid walking.

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“…This robot's walking is similar to the human walking because it has one toe [2]. H7 developed at the University of Tokyo uses various sensor informations in order to get a balance of robot [3]. Humans and animals have several toes.…”

Section: Introductionmentioning

confidence: 99%

Modeling and analysis of a biomimetic foot mechanism

Seo

2009

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Humans and mammals possess their own feet. Using the mobility of their feet, they are able to walk in various environments such as plain land, desert, swamp, and so on. Previously developed biped robots and four-legged robots did not employ such adaptable foot. In this work, a biomimetic foot mechanism is investigated through analysis of the foot structure of the human-being. This foot mechanism consists of a toe, an ankle, a heel, and springs replacing the foot muscles and tendons. Using five toes and springs, this foot can adapt to various environments. A mathematical modeling for this foot mechanism was performed and its characteristics were observed through numerical simulation.

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High-speed pressure sensor grid for humanoid robot foot

Cited by 33 publications

References 6 publications

An adaptive sensor foot for a bipedal and quadrupedal robot

An adaptive sensor foot for a bipedal and quadrupedal robot

Fabrication of four-point biped robot foot module based on contact-resistance force sensor and its evaluation

Modeling and analysis of a biomimetic foot mechanism

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