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Fabrication of four-point biped robot foot module based on contact-resistance force sensor and its evaluation

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Abstract

This paper presents the design of robot foot module of four-point biped walking robot and its fabrication. The foot module has four sensor units based on contact-resistance force sensor. The thin-film-type force sensor is fabricated by coating resistive ink on thin polyimide film using silk screening technique. The simple structure is devised and fabricated to assemble the thin force sensor rigidly. The unit force sensor module is evaluated by the calibration setup to obtain the characteristics of repeatability and hysteresis. The sensor module presents hysteresis error of about 5% and repeatability error of about 0.37%. The calculated zero moment point (ZMP) of the foot module is also compared with the measured position using static load of 50 N. The maximum location error of ZMP is less than 10%. The robot foot module shows the possibility of applying it to humanoid walking.

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Authors and Affiliations

  1. Mechanical Metrology Center, Division of Physical Metrology, KRISS, 209 Gajeong-Ro, Yuseong-Gu, Daejeon, 305-340, Korea

    Hyun-Joon Kwon, Jong-Ho Kim & Dong-Ki Kim

  2. College of Advanced Technology, Kyung Hee University, 1 Seochon-Ri, Gihung-Eup, Youngin-Si, Gyunggi-Do, 449-701, Korea

    Young-Ha Kwon

Authors
  1. Hyun-Joon Kwon
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  2. Jong-Ho Kim
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  3. Dong-Ki Kim
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  4. Young-Ha Kwon
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Correspondence to Jong-Ho Kim.

Additional information

This paper was recommended for publication in revised form by Associate Editor Cong Wang

Hyun-Joon Kwon received his B.S. degree in Mechanical Engineering, and his M.S. and Ph.D. degrees in Textile Engineering from the College of Advanced Technology, Kyung Hee University, Gyunggi-Do, Korea in 2003, 2005, and 2009, respectively. Since 2009, he has been with the Korea Research Institute of Standards and Science (KRISS) as a Post-doctoral Associate. His current research interests include the design of tactile sensor for robot and its fabrication.

Jong-Ho Kim received his B.S. degree in Mechanical Engineering from Kyungpook National University, Daegu, Korea in 1992. He received his M.S. and Ph.D. degrees in Mechanical Engineering from the Korea Advanced Institute of Science and Technology (KAIST), Daejeon, Korea in 1994 and 2001, respectively. Since 2001, he has been with the Korea Research Institute of Standards and Science (KRISS). His current research interests include the development of tactile sensor/actuator, its fabrication, and application.

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Kwon, HJ., Kim, JH., Kim, DK. et al. Fabrication of four-point biped robot foot module based on contact-resistance force sensor and its evaluation. J Mech Sci Technol 25, 543–548 (2011). https://doi.org/10.1007/s12206-010-1204-8

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  • DOI: https://doi.org/10.1007/s12206-010-1204-8

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