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Measuring the contact force between a robotic foot and the ground can play an important role in the implementation of biped motion. In this paper, one possible implementation of a contact force measurement system is given. The possibilities of this system are simulated on a motor-powered pendulum. Experiment results are also given.
A planar inductive displacement sensor is implemented in a foot of humanoid robot. The sensor, which is composed of two sensor elements, is used to measure normal and tangential component of reaction force onto robot foot. The goal of this paper is to determine absolute error of acting point of contact force detection. The error is caused due to sensor element error introduced by assembling uncertainties...
This paper deals with the foot force sensor measurement analysis. The crucial information obtained from this measurement is the position of the ZMP that provides information about the biped's dynamic balance. The previously developed foot force sensors introduce a systematic error because of the way the sensors are mounted. This kind of error can be corrected but the question is whether it is necessary...
A planar displacement inductive sensor, usable in robotics, is presented in the paper. The sensor is composed of two sensor elements. The first sensor element detects vertical displacement while the second sensor element detects horizontal displacement. Combining information from these two sensor elements, it is possible to determine displacement in a plane. Sensor element is a pair of meander coils...
This paper presents a new structure of foot force sensors for bipedal robots. The sensor has a property of passive compliance. Passive compliance is achieved with two kinds of elastic elements. The first is a metal plate and the second is a rubber elastic element. Sensing elements are reflex couplers. They measure the deformation of the rubber elastic element caused by forces acting on the foot. The...
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