DocumentCode :
2432910
Title :
Development of six-axis force/moment sensor for an intelligent foot of humanoid robot
Author :
Kim, Gab-Soon ; Shin, Hyi-Jun ; Yoon, Jungwon
Author_Institution :
Gyeongsang Nat. Univ., Jinju
fYear :
2007
fDate :
17-20 Oct. 2007
Firstpage :
2379
Lastpage :
2384
Abstract :
This paper describes the development of 6-axis force/moment sensor considered adult weight for an intelligent foot of humanoid robot. In order to walk on uneven terrain safely, the foot should perceive the applied forces Fx, Fy, and Fz, and moments Mx, My, and Mz to itself, and control the foot using the measured them. The applied forces and moments should be measured from a 6-axis force/moment sensor attached to the foot. In this paper, a 6-axis force/moment sensor for perceiving forces and moments in a humanoid robot´s foot was developed using many PPBs (parallel plate-beams). The structure of the sensor was newly modeled, and the sensing elements (plate-beams) of the sensor were designed using FEM (Finite Element Method), following which the 6-axis force/moment sensor was fabricated by attaching strain-gages on the sensing elements, moreover, the characteristic test of the developed sensor was carried out. The rated outputs from FEM analysis agree well with those from the characteristic test.
Keywords :
finite element analysis; force sensors; humanoid robots; intelligent robots; legged locomotion; finite element method; humanoid robot; intelligent foot; parallel plate beam; six-axis force-moment sensor; Foot; Force control; Force measurement; Force sensors; Humanoid robots; Intelligent robots; Intelligent sensors; Robot sensing systems; Sensor phenomena and characterization; Testing; Six-axis force/moment sensor; intelligent robot; interference error; rated output; rated strain;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Control, Automation and Systems, 2007. ICCAS '07. International Conference on
Conference_Location :
Seoul
Print_ISBN :
978-89-950038-6-2
Electronic_ISBN :
978-89-950038-6-2
Type :
conf
DOI :
10.1109/ICCAS.2007.4406730
Filename :
4406730
Link To Document :
بازگشت