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3D Force Sensor Designed Using Pressure Sensitive Electric Conductive Rubber

Tao Liu, Yoshio Inoue, Kyoko Shibata
2008 2008 IEEE Conference on Robotics, Automation and Mechatronics  
To perform 3D ground reaction force measurements with a comfortable interface for human foot, this paper presents a new 3D force sensor designed using pressure sensitive electric conductive rubber (PSECR  ...  A parallel support flexible mechanism was firstly proposed for sensing impact forces and moments. Finite element analysis was conducted for optimization design of sensor structure dimensions.  ...  The force sensors with parallel support mechanism developed by Nishiwaki [13] can be used to measure the reaction force during human walking, and control humanoid robots' zero moment point (ZMP).  ... 
doi:10.1109/ramech.2008.4681516 dblp:conf/ram/LiuIS08 fatcat:sjyf67hgtrc4njdwld3ymrayli


Q. Liang
2011 International Journal of Engineering  
As the force information is one of the most important inputs for the control system, a novel integrated force sensor is designed to measure the action force and moment at the foot when humanoid robot maintains  ...  This paper describes the development of a novel humanoid robot ankle based on an orientation Parallel Kinematic Mechanism (PKM) for intelligent and flexible control.  ...  ACKNOWLEDGEMENTS This work was supported by the Fundamental Research Funds for the Central Universities, Hunan University. The authors gratefully acknowledge Prof. Y.  ... 
doi:10.5829/idosi.ije.2011.24.04b.08 fatcat:znpzwuuprjcjtg55i4mdeo5bt4

Estimation of Ground Reaction Force and Zero Moment Point on a Powered Ankle-Foot Prosthesis

Ernesto C. Martinez-Villalpando, Hugh Herr, Matthew Farrell
2007 IEEE Engineering in Medicine and Biology Society. Conference Proceedings  
Gracias a Dios y a la Virgen Santfsima por su amparo, gufa y protecci6n.  ...  A six-axis force sensor with parallel support mechanism was proposed by Nishiwaki, et al. (2002) to measure the ground reaction force vector and the ZMP trajectory for the Japanese humanoid robot H7.  ...  Humanoid robots such as Honda's ASI MO also employs a six-axis force transducer to sense the ground reaction force and to use it to estimate the location of the ZMP (Hirai, et. al. 1998 ) . .  ... 
doi:10.1109/iembs.2007.4353386 pmid:18003052 fatcat:d7knyulhwvacxm5ixglozwsfom

Neuro-Fuzzy Algorithm For A Biped Robotic System

Hataitep Wongsuwarn, Djitt Laowattana
2008 Zenodo  
This paper summaries basic principles and concepts of intelligent controls, implemented in humanoid robotics as well as recent algorithms being devised for advanced control of humanoid robots.  ...  Subsequently, we determine a relationship between joint trajectories and located forces on robot-s foot through a proposed neuro-fuzzy technique.  ...  Bantoon Srisuwan, Paisarn Suwantep and Thitisak Chanprom for their investigation of FHR-1 and their pioneering designs in controller and hardware interfacing.  ... 
doi:10.5281/zenodo.1083428 fatcat:75zt5ew5bveiti5szcuigsivoa

A Balance Feedback Human Machine Interface for humanoid teleoperation in dynamic tasks

Joao Ramos, Albert Wang, Sangbae Kim
2015 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  
This paper introduces a novel Balance Feedback Interface (BFI) that addresses the problem of bilateral feedback for teleoperation of humanoid robots.  ...  With this new device we expect to enhance robot's high force manipulation performance to a level comparable to humans by dynamically synchronizing master and slave.  ...  The measured ground reaction forces at these points are weighted in order to estimate the robot's Center of Pressure.  ... 
doi:10.1109/iros.2015.7353976 dblp:conf/iros/RamosWK15 fatcat:kru64lgikndhzjgm4qfdlj3sbm

Wearable force sensor with parallel structure for measurement of ground-reaction force

Tao Liu, Yoshio Inoue, Kyoko Shibata
2007 Measurement (London)  
The sensor's abilities to measure ground-reaction forces with high precision and low interference error were demonstrated.  ...  The calibration experiments were performed using a force platform (EFP-S-2KNSA12) as a reference sensor, and in order to investigate interference errors of the sensor, preliminary characterization tests  ...  [17] can be used to measure the reaction forces during human walking, and implement control algorithm of humanoid robots' zero moment point (ZMP).  ... 
doi:10.1016/j.measurement.2006.08.008 fatcat:w6s4mxmxpzcmvezcyikm5guiwu

Mechatronic Design of a New Humanoid Robot with Hybrid Parallel Actuation

Vítor Santos, Rui Moreira, Filipe Silva
2012 International Journal of Advanced Robotic Systems  
Humanoid robotics is unquestionably a challenging and long-term field of research.  ...  Therefore, to pursue studies in relation to autonomy with efficient locomotion, the authors have been developing a new teen-sized humanoid platform with hybrid characteristics.  ...  context of the project FCOMP-01-0124-FEDER-022682 (FCT reference PEst-C/EEI/UI0127/2011) 8  ... 
doi:10.5772/51535 fatcat:ffuglsui6baxfgrhpgc2dr244e

Dynamic Walking of a Legged Robot in Underwater Environments

Portilla, Saltarén, Espinosa, Barroso, Cely, Yakrangi
2019 Sensors  
The concept demonstration of a legged robot with hydraulic actuators is developed. Moreover, the control that was used is described and the hydrodynamic variables of the robot are determined.  ...  For this goal, the underwater zero moment point (Uzmp) is proposed in order to generate the trajectory of the centre of the mass of the robot.  ...  Conflicts of Interest: The authors declare no conflicts of interest.  ... 
doi:10.3390/s19163588 fatcat:3lpyqkmavvhsdixeodymscifqq

A Bio-Inspired Approach to the Realization of Sustained Humanoid Motion

Miomir Vukobratović, Branislav Borovac, Aleksandar Rodić, Duško Katić, Veljko Potkonjak
2012 International Journal of Advanced Robotic Systems  
Issues of modelling of the complex mechanical systems (humanoids belonging to this class) were also discussed.  ...  Such software should allow humanoid modelling, either without any contact with the environment (such as flying freely in space, for example, during jumping) or having contact with ground or any other supporting  ...  The support wall was a flat force sensor and the participant was asked to lean until this sensor measured approximately 20 N of force.  ... 
doi:10.5772/52419 fatcat:76fdolnkljfypoedhgigba7mgm

A Wearable Force Plate Designed Using Pressure Sensitive Electric Conductive Rubber

Tao LIU, Yoshio INOUE, Kyoko SHIBATA
2009 Journal of System Design and Dynamics  
To perform 3D ground reaction force (GRF) and moments measurement with a comfortable interface for the foot, this paper presents a new 3D force sensor cell designed using pressure sensitive electric conductive  ...  A wearable force plate with a four-support mechanism was proposed for measuring triaxial forces and moments.  ...  A force sensor with parallel support mechanisms developed by Nishiwaki et al.  ... 
doi:10.1299/jsdd.3.282 fatcat:7hbc22vgajalpgp6zmsigpva7u

Parallel Architectures for Humanoid Robots

Marco Ceccarelli, Matteo Russo, Cuauhtemoc Morales-Cruz
2020 Robotics  
The structure of humanoid robots can be inspired to human anatomy and operation with open challenges in mechanical performance that can be achieved by using parallel kinematic mechanisms.  ...  Parallel mechanisms can be identified in human anatomy with operations that can be used for designing parallel mechanisms in the structure of humanoid robots.  ...  Conflicts of Interest: The authors declare no conflict of interest.  ... 
doi:10.3390/robotics9040075 doaj:7f334108f5f347f2a99f71d25339d4c6 fatcat:wuquhzlzfffzlllfcmmshcdvku

A compact two DOF magneto-elastomeric force sensor for a running quadruped

Arvind Ananthanarayanan, Shaohui Foong, Sangbae Kim
2012 2012 IEEE International Conference on Robotics and Automation  
The force sensor, which weighs only 24.5 gms, provides a measurement range of 0 -1000 N normal to the ground and up to ± 125N parallel to the ground.  ...  The sensor designed as part of this work finds direct applications in ground reaction force sensing for a running quadrupedal robot.  ...  Park et al [6] also made a humanoid robot KHR-3 with integrated force sensing in the foot. Their sensor suffers from a similar problem of being bulky.  ... 
doi:10.1109/icra.2012.6225201 dblp:conf/icra/AnanthanarayananFK12 fatcat:ybxo6ipzuze2ljbbpixv6qqiba

Model parameter estimation of humanoid robots using static contact force measurements

Jos Baelemans, Pieter van Zutven, Henk Nijmeijer
2013 2013 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)  
This method only uses measurements of the joint angles and static contact forces for a number of postures. We also contribute a method to determine optimal stable measurement postures.  ...  Model based controllers are widely used to control motions of humanoid robots. In most cases these are based on the center of mass (CoM) model of the humanoid.  ...  Finally, in [18] , [19] the ground reaction forces are used in static experiments to estimate the CoM position of humans and humanoid robots.  ... 
doi:10.1109/ssrr.2013.6719328 dblp:conf/ssrr/BaelemansZN13 fatcat:trohndjihnctvnjmrveag7dkye

Biped walking robots created at Waseda University: WL and WABIAN family

H.-o. Lim, A. Takanishi
2007 Philosophical Transactions of the Royal Society A: Mathematical, Physical and Engineering Sciences  
During the support phase, the gas spring with a large reaction force is unlocked and activated, and the other is locked.  ...  In order to reduce large support forces during the support phase, a support torque reduction mechanism was developed.  ... 
doi:10.1098/rsta.2006.1920 pmid:17148049 fatcat:relgxthrrbc7xcvtsirqsd2xqq

Stability of biped robotic walking with frictional constraints

Xuefeng Zhou, Yisheng Guan, Li Jiang, Haifei Zhu, Chuanwu Cai, Wenqiang Wu, Hong Zhang
2012 Robotica (Cambridge. Print)  
Experiments with a 6-degree of freedom active walking biped robot are conducted to verify the effectiveness of the stability analysis.  ...  Frictional constraints for biped locomotion are first analyzed and then the method to obtain the closed-form solutions of the frictional force and moment for a biped robot with rectangular and circular  ...  the feet are measured by the six-axis force/torque (F/T) sensors mounted at the ankles, with a sampling rate of 33 Hz.  ... 
doi:10.1017/s0263574712000598 fatcat:fq2564uvh5dldjmytict4sskq4
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