A three-toe biped foot with Hall-effect sensing

This paper describes a novel foot for biped robots designed to provide a reliable and low-cost solution for sensing the Center of Pressure (CoP) on flat and uneven surfaces. The foot uses a new method for detecting contact forces based on measuring the deflection of three flexural toes using Hall-ef...

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Bibliographic Details
Published in2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) pp. 360 - 365
Main Authors Gomez, Sergio Castro, Vona, Marsette, Kanoulas, Dimitrios
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.09.2015
Subjects
Foot
Force
Magnetic field measurement
Magnetic sensors
Robot sensing systems
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Summary:This paper describes a novel foot for biped robots designed to provide a reliable and low-cost solution for sensing the Center of Pressure (CoP) on flat and uneven surfaces. The foot uses a new method for detecting contact forces based on measuring the deflection of three flexural toes using Hall-effect magnetic field sensors. We experimentally compare five mathematical models for calculating the CoP coordinates from the sensor data. Results confirm that with the proposed method it is possible to obtain the same level of accuracy and reliability as with standard force sensing resistors, but without some the drawbacks of that approach.
DOI:10.1109/IROS.2015.7353398