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Browse Conference Publications > Robotics and Automation, 2002 ... Help

A six-axis force sensor with parallel support mechanism to measure the ground reaction force of humanoid robot

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6 Author(s)
Nishiwaki, K. ; Sch. of Inf. Sci. & Technol., Tokyo Univ., Japan ; Murakami, Y. ; Kagami, S. ; Kuniyoshi, Y.
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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

Published in:
Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on  (Volume:3 )

Date of Conference: 2002

Page(s):
2277 - 2282
Meeting Date :
11 May 2002-15 May 2002
Print ISBN:
0-7803-7272-7
INSPEC Accession Number:
7379377
Conference Location :
Washington, DC
Digital Object Identifier :
10.1109/ROBOT.2002.1013571
Product Type:
Conference Publications

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