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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...
There is a growing interest towards humanoid robots. Our intention is to build and explore as much as possible, relatively simple elements of humanoid robots in order to gain a better understanding of their characteristics and possibilities of control. In this paper, an experiment platform of a sensored robot foot is presented. Our goal is to explore the control possibilities of this system, especially...
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