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Development of a Six-Axis Force and Torque Sensor for the Humanoid Robot Sweaty 2.0

  • 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.show moreshow less

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Metadaten
Document Type:Conference Proceeding
Conference Type:Konferenzartikel
Zitierlink: https://opus.hs-offenburg.de/2201
Bibliografische Angaben
Title (English):Development of a Six-Axis Force and Torque Sensor for the Humanoid Robot Sweaty 2.0
Conference:11th Workshop on Humanoid Soccer Robots at 16th IEEE-RAS International Conference on Humanoid Robots, Cancun, Mexico, November 15th, 2016
Author:Lucas Schickl, Klaus DorerStaff MemberORCiDGND, Michael WülkerStaff MemberORCiDGND, Ulrich HochbergStaff MemberGND
Year of Publication:2016
Page Number:6
Parent Title (English):Proceedings of the 11th Workshop on Humanoid Soccer Robots, IEEE-RAS International Conference on Humanoid Robots
URL:https://www.researchgate.net/publication/313497201
Language:English
Inhaltliche Informationen
Institutes:Forschung / INES - Institut für nachhaltige Energiesysteme (bis 18.11.2021: Institut für Energiesystemtechnik)
Fakultät Elektrotechnik und Informationstechnik (E+I) (bis 03/2019)
Institutes:Bibliografie
Projekte / Sweaty
Tag:Humanoider Roboter; Sensortechniik
Formale Angaben
Open Access: Open Access 
Licence (German):License LogoUrheberrechtlich geschützt