Development of a humanoid robot foot with distributive force sensors

This paper presents a distributive force sensing technology on a robotic foot, whose movement is controlled by pneumatic artificial muscles, during the contact process of a single step. The flexible force sensors on the robot foot and calibrated by characterizing the magnitude and location of the ground ration force on two different platforms. A control strategy for swinging motion of a single-leg robot is also designed. The contact force and the contact point within a gait cycle can be determined by using the developed sensing technology.