A plantar H-slit force sensor for humanoid robots to detect the reaction forces

Atsushi Konno, Yusuke Tanida, Koyu Abe, Masaru Uchiyama

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    8 Citations (Scopus)

    Abstract

    This paper addresses a plantar H-slit force sensor for humanoid robots to detect the reaction force. The zero moment point (ZMP) is calculated from the detected reaction force balance. The H-slit force sensors are structuralized on a plantar frame. Since a H-slit beam unidirectionally deforms, only the normal force from the ground is selectively detected without being affected from the friction force between the sole and ground. The plantar H-slit force sensors are developed for a humanoid robot. A model is proposed to simulate the sensor output. The simulated outputs are compared with results of the finite element analysis (FEA) and the experimentation results.

    Original languageEnglish
    Title of host publication2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
    PublisherIEEE Computer Society
    Pages4057-4062
    Number of pages6
    ISBN (Print)0780389123, 9780780389120
    DOIs
    Publication statusPublished - 2005

    Publication series

    Name2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

    Keywords

    • Humanoid robot
    • Unidirectional force sensor
    • ZMP sensor

    ASJC Scopus subject areas

    • Artificial Intelligence
    • Computer Vision and Pattern Recognition
    • Human-Computer Interaction
    • Control and Systems Engineering

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