Design of sensorized feet for a kid-seized biped robot

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Title:	Design of sensorized feet for a kid-seized biped robot; Load cell for the feet of a humanoid robot
Author:	Pegueroles Queralt, Jordi
Other authors:	Menga, Giuseppe
Abstract:	This paper describes the development of a custom load cell used as a foot for a humanoid robot or humanoid exoskeleton. In order to develop a dynamically compensated walk the precise measurement of the zero moment point is critical. The sensor is developed performing a theoretical analysis using FEM techniques. Then the 3-axis sensor is fabricated and build using strain gauges. Finally, the characteristic test confirmed the hypothesis.
Abstract:	Outgoing
Subject(s):	-Àrees temàtiques de la UPC::Informàtica::Robòtica -Androids--Equipment and supplies -Androides--Aparells i instruments
Rights:
Document type:	Bachelor Thesis
Published by:	Universitat Politècnica de Catalunya; Politecnico di Torino
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