DocumentCode
1868475
Title
A six-axis force sensor with parallel support mechanism to measure the ground reaction force of humanoid robot
Author
Nishiwaki, Koichi ; Murakami, Yoshifumi ; Kagami, Satoshi ; Kuniyoshi, Yasuo ; Inaba, Masayuki ; Inoue, Hirochika
Author_Institution
Sch. of Inf. Sci. & Technol., Tokyo Univ., Japan
Volume
3
fYear
2002
fDate
2002
Firstpage
2277
Lastpage
2282
Abstract
This paper describes a design of six-axis force sensor that measures ground reaction force of human or humanoid robot. The key concept is parallel support mechanisms, that allow large torques and forces which are caused when foot is hitting to the environment. Basic concept and design of parallel support mechanisms are denoted. Finally ground reaction force measurement system for human walking, and application to humanoid robot walking are described
Keywords
force measurement; force sensors; legged locomotion; force sensor; ground reaction force; ground reaction force measurement; human walking; humanoid robot; humanoid robot walking; legged robots; parallel support mechanisms; Capacitive sensors; Force measurement; Force sensors; Ground support; Humanoid robots; Humans; Interference; Leg; Legged locomotion; Robot sensing systems;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on
Conference_Location
Washington, DC
Print_ISBN
0-7803-7272-7
Type
conf
DOI
10.1109/ROBOT.2002.1013571
Filename
1013571
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