@inproceedings{bc01021d6ee44b8ab8b041817ddaf98b,
title = "A plantar H-slit force sensor for humanoid robots to detect the reaction forces",
abstract = "This paper addresses a plantar H-slit force sensor for humanoid robots to detect the reaction force. The zero moment point (ZMP) is calculated from the detected reaction force balance. The H-slit force sensors are structuralized on a plantar frame. Since a H-slit beam unidirectionally deforms, only the normal force from the ground is selectively detected without being affected from the friction force between the sole and ground. The plantar H-slit force sensors are developed for a humanoid robot. A model is proposed to simulate the sensor output. The simulated outputs are compared with results of the finite element analysis (FEA) and the experimentation results.",
keywords = "Humanoid robot, Unidirectional force sensor, ZMP sensor",
author = "Atsushi Konno and Yusuke Tanida and Koyu Abe and Masaru Uchiyama",
year = "2005",
doi = "10.1109/IROS.2005.1545186",
language = "English",
isbn = "0780389123",
series = "2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS",
publisher = "IEEE Computer Society",
pages = "4057--4062",
booktitle = "2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS",
}