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
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;
Conference_Titel :
Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on
Conference_Location :
Washington, DC
Print_ISBN :
0-7803-7272-7
DOI :
10.1109/ROBOT.2002.1013571
