Tactile Sensor-Based Detection of Partial Foothold for Balance Control in Humanoid Robots

This paper proposes a tactile sensor array to detect partial footholds and a wrench control method for biped humanoid robots using detected partial footholds. The proposed tactile sensor adopts a high-density FSR (Force Sensitive Resistor) array. It can read data within milliseconds. Filtering methods for its high-speed data which provide accurate estimation of contact areas are also proposed. They enable the computation of optimal contact forces. A wrench control method for biped humanoid robots, based on contact area information from detected partial footholds, enables stable force control even in partial foothold situations. The effectiveness of this advanced control system is evaluated through stabilizing and climbing stepladder experiments on partial footholds using an actual humanoid robot.