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http://dx.doi.org/10.5369/JSST.2007.16.3.211

Development of 6-axis force/moment sensor for a humonoid robot  

Kim, Gab-Soon (Gyeongsang National University, ERI)
Shin, Hyi-Jun (Gyeongsang National University, ERI)
Publication Information
Journal of Sensor Science and Technology / v.16, no.3, 2007 , pp. 211-219 More about this Journal
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.
Keywords
6-axis force/moment sensor; interference error; rated output; rated load; humanoid robot;
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