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It is well known that sensors using strain gauges have a potential dependencyon temperature. This creates temperature drift in the measurements of six axisforce torque sensors (F/T). The temperature drift can be considerable if anexperiment is long or the environmental conditions are different from when thecalibration of the sensor was performed. Other \textit{in situ} methodsdisregard the effect of temperature on the sensor measurements. Experimentsperformed using the humanoid robot platform iCub show that the effect oftemperature is relevant. The model based \textit{in situ} calibration of sixaxis force torque sensors method is extended to perform temperaturecompensation.

Model Based In Situ Calibration with Temperature compensation of 6 axis Force Torque Sensors