2P2-B14 触覚・力覚センサを用いたヒューマノイドロボット用足底力センサの開発

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  • 2P2-B14 Development of a Sole Sensor for Humanoid Robots Using Tactile and Force Sensors

説明

The measurement of ZMP is necessary for a stable walk of humanoid robots. A new 6 axis force sensor for ZMP measurement is proposed. A six axis force sensor is composed of a tactile sensor and a force sensor. The force sensor measures the forces in horizontal directions by using four sensor elements. The element consists of two parallel beam structures connected to each other. The tactile sensor detects the vertical force distribution on the sole by using the pressure conductive rubber sheet. Each sensor system is integrated and calibrated by some fundamental measurements.

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