Determination of the acting point of contact force in a foot of humanoid robot using inductive displacement sensor

A planar inductive displacement sensor is implemented in a foot of humanoid robot. The sensor, which is composed of two sensor elements, is used to measure normal and tangential component of reaction force onto robot foot. The goal of this paper is to determine absolute error of acting point of contact force detection. The error is caused due to sensor element error introduced by assembling uncertainties and measuring nonlinearities of the sensor elements used for indirect measuring of the normal component of the force.