2026-04-13T15:10:04Zhttps://recercat.cat/oai/request

oai:recercat.cat:2099.1/146942025-07-23T05:13:49Zcom_2072_1033col_2072_452951

Design of sensorized feet for a kid-seized biped robot Load cell for the feet of a humanoid robot Pegueroles Queralt, Jordi Menga, Giuseppe Àrees temàtiques de la UPC::Informàtica::Robòtica Androids--Equipment and supplies Androides--Aparells i instruments This paper describes the development of a custom load cell used as a foot for a humanoid robot or humanoid exoskeleton. In order to develop a dynamically compensated walk the precise measurement of the zero moment point is critical. The sensor is developed performing a theoretical analysis using FEM techniques. Then the 3-axis sensor is fabricated and build using strain gauges. Finally, the characteristic test confirmed the hypothesis. Outgoing 2010 Master thesis (pre-Bologna period) https://hdl.handle.net/2099.1/14694 eng Restricted access - author's decision application/pdf Universitat Politècnica de Catalunya Politecnico di Torino