NDLI: Design and Analysis of a Novel Sensory System for a Humanoid Robot Foot

Content Provider	The American Society of Mechanical Engineers (ASME) Digital Collection
Author	Soorgee, Mohammad Hossein Yousefi-Koma, Aghil Aghbali, Behnam Kordbache, Maryam Ghasemi, Amir Masoud
Copyright Year	2010
Abstract	This paper describes a novel design of force sensors arrangement for measuring ground reaction force on a humanoid foot to find the zero momentum point (ZMP) which is usually used as a stability criterion for a walking biped robot. Precise locating of ZMP highly depends on accurate measurement of reaction force distribution on the foot. Design and fabrication of a sole for a full scale humanoid robot, “Surena” is of interest. A rubber layer is placed on robot sole parallel to force sensors to reduce the effect of impact while robot is walking. Consequently, the force measured by sensors is not total force exerted by the ground. Several foot interaction condition with ground have been modeled using finite element method and force distribution in sole rubber and sensors have been obtained. The resultant is a model which predicts the total force distribution based on four point force measurement. Several experimental situations have been tested and forces have been measured. Experimental results have shown that numerical model could predict force distribution in a good way and location of ZMP has been found successfully.
Sponsorship	International
Starting Page	843
Ending Page	848
Page Count	6
File Format	PDF
ISBN	9780791849170
DOI	10.1115/ESDA2010-24725
e-ISBN	9780791838778
Volume Number	ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis, Volume 3
Conference Proceedings	ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis
Language	English
Publisher Date	2010-07-12
Publisher Place	Istanbul, Turkey
Access Restriction	Subscribed
Subject Keyword	Design Force measurement Stability Computer simulation Humanoid robots Momentum Sensors Manufacturing Force sensors Rubber Finite element methods Robots
Content Type	Text
Resource Type	Article

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