On a design of a torque sensor for the iCub humanoid robot

Wiktor Sieklicki; Francesco Becchi

doi:10.2390/biecoll-robotdoc2012-17

On a design of a torque sensor for the iCub humanoid robot

Abstract

The paper presents the evaluation process of a first version of the one axis torque sensor designed for the iCub humanoid robot. Newly designed strain gauges equipped sensor was found to show a significant readouts hysteresis, therefore several tests were run to define the reason of the hysteresis. Some of the design issues met while testing the new sensor are discussed including the screws connection and relative rigidity of the sensor’s elements analyses. Verification of the assembly procedure is also included. Tests revealed several problems on both design stage and exploitation of the sensor. Possible solutions to the encountered problems are further proposed.

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Authors (2)

Wiktor Sieklicki dr inż.
Francesco Becchi dr
- Telerobot labs, Włochy Telerobot labs

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Category:: Conference activity
Type:: publikacja w wydawnictwie zbiorowym recenzowanym (także w materiałach konferencyjnych)
Title of issue:: Proceedings of the Post-Graduate Conference on Robotics and Development of Cognition strony 48 - 51
Language:: English
Publication year:: 2012
Bibliographic description:: Sieklicki W., Becchi F.: On a design of a torque sensor for the iCub humanoid robot// Proceedings of the Post-Graduate Conference on Robotics and Development of Cognition/ ed. J. Szufnarowska Bielefeld University: Bielefeld University, 2012, s.48-51
DOI:: Digital Object Identifier (open in new tab) 10.2390/biecoll-robotdoc2012-17
Verified by:: Gdańsk University of Technology