Measuring ground reaction forces of quadruped robot

the control of quadruped robot needs the measuring of the ground force reaction for better interaction with the environment. In this paper, we consider the two orthogonal components ground reaction forces of quadruped robot. The proposed system consists of two parallelepipeds elastic elements and strain gauges; the acquisition system is based on high precision analog digital converter (ADC). The Wheatstone full bridge is used for the temperature compensation. The obtained results show that the proposed system has a high sensitivity which can reach 0.0002 N/g; the repetition error can reach 0.1%.