Look at my new blue force-sensing shoes!
Yuanfeng Han,Ruixin Li,Gregory S. Chirikjian,Yuanfeng Han,Ruixin Li,Gregory S. Chirikjian
To function autonomously in the physical world, humanoid robots need high-fidelity sensing systems, especially for forces that cannot be easily modeled. Modeling forces in robot feet is particularly challenging due to static indeterminacy, thereby requiring direct sensing. Unfortunately, resolving forces in the feet of some smaller-sized humanoids is limited both by the quality of sensors and the ...
