Eventos Anais de eventos
COBEM 2019
25th International Congress of Mechanical Engineering
INNOVATIVE FOOT PRESSURE SENSOR DESIGN FOR HUMANOID ROBOTS
Submission Author:
Daniela Vacarini de Faria , SP
Co-Authors:
FRANCISCO ARTHUR BONFIM AZEVEDO, Daniela Vacarini de Faria, Marcos Maximo, Mauricio Donadon
Presenter: Daniela Vacarini de Faria
doi://10.26678/ABCM.COBEM2019.COB2019-1563
Abstract
In this paper, a novel foot sensor for measuring the center of pressure (CoP) for humanoid robots is presented. The foot sensor consists of a monolith design, with four bending beam load cells. The bending strain is measured through four pairs of strain gauges in half bridge configuration. The final geometry was achieved through topological optimization. Experimental results show good correlation with predicted and measured CoP position.
Keywords
humanoid robots, Sensors, legged locomotion, Topological Optimization, center of pressure
