By Topic

Dynamic sensing experiments of reaction force distributions on the sole of a walking humanoid robot

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Kinoshita, G. ; Fac. of Sci. & Eng., Chuo Univ., Tokyo, Japan ; Kimura, T. ; Shimojo, M.

This paper describes methods for sensing the reaction forces acting on the foot and on the sole of a humanoid robot during walking. A force sensor is described, which utilizes sensors at each of four corners of the foot to measure the center of pressure during walking. A tactile sensor was also constructed from pressure conductive rubber sandwiched between upper and lower electrode arrays positioned at right angles to each other. This sensor provides information about the force distributions acting on the sole of the foot. Results are presented of measurements of the force distribution acting on the sole of the foot during walking of a humanoid robot on a flat surface and over thin objects on the floor.

Published in:

Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on  (Volume:2 )

Date of Conference:

27-31 Oct. 2003