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

fYear

2009

fDate

25-26 Sept. 2009

Firstpage

49

Lastpage

52

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/SISY.2009.5291120

Filename

5291120