Foot with a Core-shell Structural Six-axis Force Sensor for Pedal Depressing and Recovering from Foot Slipping during Pedal Pushing Toward Autonomous Driving by Humanoids

To realize a robust automobile driving behavior of musculoskeletal tendon-driven humanoids, we developed a six-axis force measurement module with a core-shell structure. This sensor enables space saving, high load capacity and wholebody sensing at the same time. By developing a foot unit incorporati...

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Bibliographic Details
Main Authors: Shinjo, Koki, Inaba, Masayuki, Kawaharaduka, Kento, Asano, Yuki, Nakashima, Shinsuke, Makino, Shogo, Onitsuka, Moritaka, Tsuzuki, Kei, Okada, Kei, Kawasaki, Koji
Format: Conference Proceeding
Language:English
Online Access:Request full text
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Summary:To realize a robust automobile driving behavior of musculoskeletal tendon-driven humanoids, we developed a six-axis force measurement module with a core-shell structure. This sensor enables space saving, high load capacity and wholebody sensing at the same time. By developing a foot unit incorporating a core-shell structural force sensor on its toe, we realized behaviors of depressing a pedal and recovering from foot slipping during the depressing with a lifesized musculoskeletal humanoid "Musashi".
ISSN:2153-0866
DOI:10.1109/IROS40897.2019.8967519