Optimum design method of multi-axis force sensor integrated in humanoid robot foot system (original) (raw)
Related papers
Measurement, 2015
In order to walk safely, forces and moments exerted on humanoid robot foot should be measured and used for controlling the robot. This paper describes the development and evaluation of a six-axis force/moment sensor used under humanoid robot foot. The developed sensor is capable of measuring 400 N horizontal force, 1000 N vertical force, 20 NÁm moment about the horizontal axis and 10 NÁm moment about the vertical axis using rectangular cross-sectional beams. The structure of the sensor is newly modeled, and the sensing elements are simulated by using finite element method (FEM). Then the sensor is fabricated by attaching strain gages onto the beams. Finally, a characteristic test of the developed sensor is carried out, and the output from FEM analysis agrees with those from the characteristic test.
Research on calibration system error of 6-axis force/torque sensor integrated in humanoid robot foot
2010
With the fast development of humanoid robot with high intelligence and accuracy, the improvement of comprehensive performance of 6-axis force/toque sensor(F/T sensor) has been constantly emphasized and further put forward to a higher demand. Except that a good proper mechanical design to guarantee the precision of the F/T sensor, the calibration quality is one of the most important factors of influencing the precision of F/T sensor too. The influencing factor of the precision of F/T sensor and system error source have been analysed from the view point of the calibration in this correspondence for the improvement of optimization design of sensor structure and calibration system in order to reduce or eliminate the error effects, which offers the theoretical foundation for improving the comprehensive performance and measurement accuracy of the F/T sensor.
The Role of Compliant Elements in Two-Legged Robot’s Foot Model
Journal of Automation, Mobile Robotics and Intelligent Systems, 2015
Proposi on of compliant foot for bipedal robot is introduced and its proper es are inves gated. The foot consists of four compliant elements (spring-damper) mounted to four ver ces of a rectangular frame. The results of robot gait analysis using Zero Moment Point method are shown. ZMP trajectories for rigid and compliant foot are compared and conclusions are formulated. Foot compliance reduces needed for postural stabilizaon compensatory movements of the upper part of the body by those simplifying control methods and construcon. Obtained results will be applied in real prototype of small humanoidal robot. Robot construc on in which proposed foot will be applied is shortly introduced.
The six-component force sensor for measuring the loading of the feet in locomotion
Materials & Design, 1999
This study presents a novel shoe-shape structure, capable of combining two six-axis force sensors placed in the front part and rear part of that structure. Also, the foot is treated as a 1 d.f. rotating articulation between the heel and the toe to simulate the metatarso-phalangeal joints between and the reaction loading of a foot to be directly measured and registered during gait motion. A shoe-shaped structure, having a hinge in its middle place, is worn on the foot of a tester. In addition, a potentiometer is set around the knee of the tester to register the flexion or extension angle between the thigh stick and shank stick during gait motion. Moreover, each component force measured from six-component force sensors and corresponding angle measured from potentiometer are inputted into the LabVIEW data acquisition system to quantitatively measure the reaction loading with respect to their sizes and directions. The novel six-axis force sensor system and its measuring process can be applied not only in clinical gait analysis and diagnosis of the osteopathy, but also in the study of biped walking robots and the development of new shoe types for manufacturing.
Indian journal of science and technology, 2024
Objective: A Compliant Joint of humanoid robot is a spring-loaded assembly, which is used to interact safely with the environment, and it helps to stabilized sudden shock and vibration in the robotic system. At the moment, compliant joints are required to optimize their size and dimensions which result into optimized weight and factor of safety of humanoid robot. Methods: Analysis is carried out using Response Surface Methodology (RSM) and Multi-Objective Genetic Algorithm (MOGA) using ANSYS. The current study employed goal-driven optimisation using ANSYS Workbench to minimise weight and achieve the required factor of safety range for the compliant joint. To find out range of variables such as rim thickness, shaft diameter, base thickness, module thickness and spoke thickness affecting on responses such as factor of safety and geometrical mass of compliant joint single factor single response parametric analysis is carried out. Findings: Based on trend of preliminary analysis variable range and combinations are selected to study interaction effect of parameters to obtain favorable factor of safety and low geometrical mass. The optimized compliant joint is compared with various design and validated through the developed actual module. Novelty: Eventually, the geometry mass of the compliant joint was reduced from 0.8604 kg to 0.6449 kg, resulting in a lighter weight (24.06% reduction) with a 1.7533 factor of safety and more compact in size (outer diameter is shrink from 142 to 126 mm).
Humanoids’feet: state of the art & future directions
2022
Robotic feet play a fundamental role in the walking performance of a biped robot. Feet are essential to maintain dynamic stability and to propel the body during walking. They may ensure stability on uneven terrains. Yet, complex feet are seldom used on humanoids. This paper surveys 36 types of robotic feet we found in the literature. We classified them according to strategy, capabilities, structure, number of degrees of freedom, actuation method of ankle and foot, type of actuator, sensorization and type of control. Subsequently, we analyzed the dynamic and static models of flexible feet. We discussed considerations on foot dynamics or kinematics in the robot's whole body control system. We analyzed both active joints control for feet including actuated joints, and control for feet with elastic elements (for example, a rubber layer in the sole). Finally, we present some limitations of robotic feet and possible future developments.
Humanoid Robot: A Review of the Architecture, Applications and Future Trend
Research Journal of Applied Sciences, Engineering and Technology
With the advancement in the area of robotics, exoskeleton technology has come a long way since its beginnings in the late 60's. Researchers over the world have developed their own exoskeleton prototypes and some of the well known exoskeleton includes the BLEEX, MIT exoskeleton, HAL, LOPES, ALEX and many more. Although technologies have since improved from the 60's, challenges still exist in exoskeleton design. In this study, we are going to review different exoskeleton technologies as well as its role in the area of rehabilitation. This purpose in rehabilitation is promising, based on countless of researches which have been done.
Grund Contact in Simmechanics for Humanoid Robot
2017
Abstract: this paper deals with the comparison of analysis of two legged humanoid robots during walking. This research area is characterized by the fact that there are a lots of publications, most of which are based on the classic Zero-Moment-Point (ZMP) method. First, a brief overview is provided on humanoid robots, and also models for the dynamic behavior are discussed. As base for these models these two methods Denavit Hartenberg and the Newton-Euler are used. Main aim of this work is to investigate the stability of humanoid robot developed. There is currently the low base of robot consisting of feet, legs, hips and upper part of robots body. First, the existing low base of humanoid robot was simulated using Matlab / SimMechanics, where the derived by Newton-Euler model was used.
A Review of Several kinds of Foot Design for Bipedal Robots
ISTE, 2018
Foot is a key part for bipedal locomotion. Many of the recent Humanoid still has flat foot and do not show all features of the foot. The paper presented here reviews the various foot designs and foot mechanisms developed to summarise the progress that has been made to obtain a biomimetic foot for a bipedal robot. Also it discuss the recent human-like foot developed and the testing of foot to improve the key parts of foot.