Journal of Sensor Science and Technology (센서학회지)

The Korean Sensors Society (한국센서학회)
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Development of 6-axis force/moment sensor for a humonoid robot

인간형 로봇을 위한 6축 힘/모멘트센서 개발

  • 김갑순 (경상대학교 제어계측공학과) ;
  • 신희준 (경상대학교 제어계측공학과)
  • Published : 2007.05.31
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Abstract

This paper describes the development of 6-axis force/moment sensor for a humanoid robot. In order to walk on uneven terrain safely, the robot's foot should perceive the applied forces Fx, Fy, Fz and moments Mx, My, Mz to itself, and be controlled by the foot using the forces and moments. Also, in order to grasp unknown object safely, the robot's hand should perceive the weight of the object using the mounted 6-axis force/moment sensor to its wrist, and be controlled by the hand using the forces and moments. Therefore, 6-axis force/moment sensor should be necessary for a humanoid robot's hand and foot. In this paper, 6-axis force/moment sensor for a humanoid robot was developed using many PPBs (parallel plate-beams). The structure of the sensor was newly modeled, and the sensing element of the sensor was designed using theoretical analysis. Then, 6-axis force/moment sensor was fabricated by attaching strain-gages on the sensing elements, and the characteristic test of the developed sensor was carried out. The rated outputs from theoretical analysis agree well with the results from the experiments.

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References

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