Research on calibration system error of 6-axis force/torque sensor integrated in humanoid robot foot

With the fast development of humanoid robot with high intelligence and accuracy, the improvement of comprehensive performance of 6-axis force/toque sensor(F/T sensor) has been constantly emphasized and further put forward to a higher demand. Except that a good proper mechanical design to guarantee the precision of the F/T sensor, the calibration quality is one of the most important factors of influencing the precision of F/T sensor too. The influencing factor of the precision of F/T sensor and system error source have been analysed from the view point of the calibration in this correspondence for the improvement of optimization design of sensor structure and calibration system in order to reduce or eliminate the error effects, which offers the theoretical foundation for improving the comprehensive performance and measurement accuracy of the F/T sensor.