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Ground Contact Detection with Shortstroke Buttons for Biped Robots
Author(s) -
Ewald Alexander,
Beutler Fabian,
Buschmann Thomas
Publication year - 2013
Publication title -
pamm
Language(s) - English
Resource type - Journals
ISSN - 1617-7061
DOI - 10.1002/pamm.201310231
Subject(s) - humanoid robot , robot , contact force , torque , computer science , strain gauge , simulation , engineering , human–computer interaction , control engineering , artificial intelligence , structural engineering , physics , quantum mechanics , thermodynamics
Robust walking motion of humanoid robots requires a sensor system that can accurately sense the robot's state and its environment. Especially in case the ground is not modeled and uneven, information about the contact state is crucial to initiate an appropriate response. Many humanoid robots use strain gauge‐based force/torque sensors to obtain information about the contact state. In this paper, we propose the integration of shortstroke buttons in the foot design to detect ground contact faster and more reliably. Simulation results with our robot Lola suggest that impact forces in case of an unexpected ground contact can be reduced significantly by integrating these sensors. (© 2013 Wiley‐VCH Verlag GmbH & Co. KGaA, Weinheim)