Open Access

Lucas Schickl, Klaus Dorer, Michael Wülker, Ulrich Hochberg

• The humanoid Sweaty was the finalist in this year’s robocup soccer championship(adult size). For the optimization of the gait and the stability, data concerning forces and torques in the ankle joints would be helpful. In the following paper the development of a six-axis force and torque sensor for the humanoid robot Sweaty is described. Since commercial sensors do not meet the demands for theThe humanoid Sweaty was the finalist in this year’s robocup soccer championship(adult size). For the optimization of the gait and the stability, data concerning forces and torques in the ankle joints would be helpful. In the following paper the development of a six-axis force and torque sensor for the humanoid robot Sweaty is described. Since commercial sensors do not meet the demands for the sensors in Sweatys ankle joints, a new sensor was developed. As a measuring devices we used strain gauges and custom electronics based on an acam PS09. The geometry was analyzed with the FEM program ANSYS to get optimal dimensions for the measuring beams. In addition ANSYS was used to optimize the position for the strain gauges on the beam.…