Title :
Determination of the acting point of contact force in a foot of humanoid robot using inductive displacement sensor
Author :
Djuric, Snezana ; Nagy, Laszlo ; Damnjanovic, Mirjana
Author_Institution :
Fac. of Tech. Sci., Univ. of Novi Sad, Novi Sad, Serbia
Abstract :
A planar inductive displacement sensor is implemented in a foot of humanoid robot. The sensor, which is composed of two sensor elements, is used to measure normal and tangential component of reaction force onto robot foot. The goal of this paper is to determine absolute error of acting point of contact force detection. The error is caused due to sensor element error introduced by assembling uncertainties and measuring nonlinearities of the sensor elements used for indirect measuring of the normal component of the force.
Keywords :
displacement measurement; force measurement; force sensors; humanoid robots; inductive sensors; legged locomotion; measurement errors; robot kinematics; contact force; humanoid robot; nonlinearities; normal component; planar inductive displacement sensor; reaction force measurement; robot foot; sensor element error; tangential component; Coils; Displacement measurement; Foot; Force measurement; Force sensors; Humanoid robots; Magnetic sensors; Measurement uncertainty; Robot sensing systems; Robotic assembly; absolute error; contact force; inductive sensor; robot foot;
Conference_Titel :
Intelligent Systems and Informatics, 2009. SISY '09. 7th International Symposium on
Conference_Location :
Subotica
Print_ISBN :
978-1-4244-5348-1
Electronic_ISBN :
978-1-4244-5349-8
DOI :
10.1109/SISY.2009.5291120
