Development of a Mechanically Coupled, 6-Axis Force-Torque Sensor for Humanoid Robots

摘要

For better walking performance of humanoid robots, the measure of ZMP is inevitable. The traditional and basic tool for ZMP measurement is to use a force-torque sensor. A 6-axis force-torque sensor can measure all direction’s force data, 3 forces and 3 torques applied to the body. This paper describes mechanically coupled design of a 6-axis force-torque sensor using strain gauges especially for humanoid robots. In mechanically coupled sensors, force data can not be obtained directly from strain signals. Instead output data should be calculated through a additional matrix calculation. Here we suggested a new design method of a small size 6-axis force-torque sensor module for humanoid robots. In this paper, we proposed design guide of the sensor’s structure design, amplitude circuit, and details for the data acquisition board for humanoid robots.