Six DOF sensory system for the force-torque control of walking humanoid

Abstract

This paper focuses on current state of the art in sensory equipment for walking robotic systems and walking humanoids oriented on assistive technologies, military, security and rescue robotic systems. Described sensory systems are based on modular design that measures axial shiftings and angular displacements is a part of many sensory systems in robotics and human-machine interface applications. This is done by means of a square or annular CCD, or a set of four linear PSD elements, and four laser diode rays or planes, creating the shape of a pyramid. The positions of four light spots on the CCD or eight light spots on the PSDs are processed to produce three axial shiftings and three angular displacement values. Copyright © 2008 by World Scientific Publishing Co. Pte. Ltd.