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SISY 2009 - 7th International Symposium on Intelligent Systems and Informatics2009, Article number 5291161, Pages 221-226SISY 2009 - 7th International Symposium on Intelligent Systems and Informatics; Subotica; Serbia; 25 September 2009 through 26 September 2009; Category numberCFP0984C-ART; Code 78556

Foot force sensor - Error analysis of the ZMP position measurement(Conference Paper)

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  • Faculty of Technical Science, Department for Power, Electronics and Telecommunication, Novi Sad, Serbia

Abstract

This paper deals with the foot force sensor measurement analysis. The crucial information obtained from this measurement is the position of the ZMP that provides information about the biped's dynamic balance. The previously developed foot force sensors introduce a systematic error because of the way the sensors are mounted. This kind of error can be corrected but the question is whether it is necessary. The error correction will take additional processing time which may not be feasible. Therefore the error magnitude and sign is first analyzed to provide a criterion for deciding whether to do the correction or not. The correction procedure is also presented. © 2009 IEEE.

Indexed keywords

Engineering uncontrolled termsCorrection procedureDynamic balanceError magnitudeForce sensorProcessing Time
Engineering controlled terms:Error analysisIntelligent systemsPosition measurementSensors
Engineering main heading:Error correction
  • ISBN: 978-142445349-8
  • Source Type: Conference Proceeding
  • Original language: English
  • DOI: 10.1109/SISY.2009.5291161
  • Document Type: Conference Paper

  Krklješ, D.; Faculty of Technical Science, Department for Power, Electronics and Telecommunication, Serbia;
© Copyright 2010 Elsevier B.V., All rights reserved.

Cited by 7 documents

Gomez, S.C. , Vona, M. , Kanoulas, D.
A three-toe biped foot with Hall-effect sensing
(2015) IEEE International Conference on Intelligent Robots and Systems
Krklješ, D. , Nagy, L. , Babković, K.
Force-dependent contact area excitation of FSR force sensor utilizing dome-shaped rubber element
(2012) 2012 28th International Conference on Microelectronics - Proceedings, MIEL 2012
Liang, Q. , Wang, Y.
Flexible ankle based on PKM with force/torque sensor for humanoid robot
(2011) International Journal of Engineering, Transactions B: Applications
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