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

    7 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
    Pages1470-1475
    Number of pages6
    DOIs
    Publication statusPublished - 2005 Dec 1
    EventIEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005 - Edmonton, AB, Canada
    Duration: 2005 Aug 22005 Aug 6

    Publication series

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

    Other

    OtherIEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005
    CountryCanada
    CityEdmonton, AB
    Period05/8/205/8/6

    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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  • Cite this

    Konno, A., Tanida, Y., Abe, K., & Uchiyama, M. (2005). A plantar H-slit force sensor for humanoid robots to detect the reaction forces. In 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS (pp. 1470-1475). [1545186] (2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS). https://doi.org/10.1109/IROS.2005.1545186