Development of a planar biped robot is currently underway at Yeditepe University. The robot consists of lower extremities with a torso that are designed at anthropomorphic dimensions. This study describes the design and testing of a foot contact sensor for the biped robot. Dynamic stability of a biped robot is commonly measured by the zero moment point (ZMP) method. Experimentally, ZMP is measured by multi-component force/torque sensors. Due to their low cost and ease of use, force sensitive resistors (FSR) are used to build a foot contact sensor for the biped robot. Four FSRs are mounted at the corners of the robot’s foot to measure the ground reaction force and its moment. Hence, by utilizing the data from the foot contact sensors, a real-time ZMP computation scheme can be implemented. The performance of the designed foot contact sensor is presented by numerical simulations of a planar biped robot’s postural stability control. Results indicate that reaction force computation by the FSR based force sensors is a viable method to monitor postural stability of biped robots. Force sensors and their electronics are currently being built to be used for the actual tests.
Skip Nav Destination
ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis
July 12–14, 2010
Istanbul, Turkey
Conference Sponsors:
- International
ISBN:
978-0-7918-4917-0
PROCEEDINGS PAPER
Design and Analysis of a Foot Contact Sensor for Posture Control of a Biped Robot
Koray K. S¸afak,
Koray K. S¸afak
Yeditepe University, Istanbul, Turkey
Search for other works by this author on:
T. Batuhan Baturalp
T. Batuhan Baturalp
Yeditepe University, Istanbul, Turkey
Search for other works by this author on:
Koray K. S¸afak
Yeditepe University, Istanbul, Turkey
T. Batuhan Baturalp
Yeditepe University, Istanbul, Turkey
Paper No:
ESDA2010-24588, pp. 669-673; 5 pages
Published Online:
December 28, 2010
Citation
S¸afak, KK, & Baturalp, TB. "Design and Analysis of a Foot Contact Sensor for Posture Control of a Biped Robot." Proceedings of the ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis. ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis, Volume 3. Istanbul, Turkey. July 12–14, 2010. pp. 669-673. ASME. https://doi.org/10.1115/ESDA2010-24588
Download citation file:
6
Views
Related Proceedings Papers
Related Articles
An Improved Smart Ankle Foot Othosis Design Using Dual Fluid Power Cylinders
J. Med. Devices (June,2010)
A Systematic Design Procedure to Minimize a Performance Index for Robot Force Sensors
J. Dyn. Sys., Meas., Control (September,1991)
Dynamic Stability Analysis of a Two-Link Force-Controlled Flexible Manipulator
J. Dyn. Sys., Meas., Control (December,1990)
Related Chapters
Memristor: Bryond Moore's Law and Digital Computing
International Conference on Computer and Electrical Engineering 4th (ICCEE 2011)
Development of Intelligent Force Sensor System for Interactive Robot
International Conference on Mechanical Engineering and Technology (ICMET-London 2011)
QP Based Encoder Feedback Control
Robot Manipulator Redundancy Resolution