Multi-Axis Force-Torque Sensors for Measuring Zero-Moment Point in Humanoid Robots: A Review

Research output: Contribution to journalReview articlepeer-review

Abstract

Recent advances in mobility, manipulation, and intelligence of robots have promoted the usability of humanoid robots to support humans in their daily lives in the future. The multi-axis force-torque sensor is an essential sensor for the biped humanoid robot to maintain balance during walking and running since it is used to calculate the zero-moment point, the criterion of dynamic stability. Force-torque sensors will be widely used in the future because they are essential for service robots to interact with people in unstructured environments. However, due to special design considerations and requirements, it is difficult to find a suitable commercial force-torque sensor for biped humanoid robots and the price is very expensive. This paper reviews the multi-axis force-torque sensor used in current state-of-the-art humanoid robots based on the understanding of biped walking, zero-moment point, and ground reaction force. From an in-depth analysis of relevant information, sensor requirements are discussed with the robot performance. In addition, the structural design of the sensors is classified into four types and described in detail. This comprehensive review will facilitate the development of force-torque sensors in humanoid robots and will be helpful in extending their application in the various fields of service robots.

Original languageEnglish
Article number8871222
Pages (from-to)1126-1141
Number of pages16
JournalIEEE Sensors Journal
Volume20
Issue number3
DOIs
Publication statusPublished - 2020 Feb 1

Bibliographical note

Funding Information:
Manuscript received August 31, 2019; accepted October 9, 2019. Date of publication October 16, 2019; date of current version January 17, 2020. This work was supported by the Industrial Strategic Technology Development Program (Development of Wearable Robot for Industrial Labor Support) under Grant 10035431 through the Ministry of Trade, Industry, and Energy (MI, Korea). The associate editor coordinating the review of this article and approving it for publication was Prof. Subhas C. Mukhopadhyay. (Corresponding author: Jung-Hoon Kim.) The author is with the Construction Robot and Automation Laboratory, Department of Civil and Environmental Engineering, Yonsei University, Seoul 03722, South Korea (e-mail: junghoon@ yonsei.ac.kr). Digital Object Identifier 10.1109/JSEN.2019.2947719

Funding Information:
This work was supported by the Industrial Strategic Technology Development Program (Development of Wearable Robot for Industrial Labor Support) under Grant 10035431 through the Ministry of Trade, Industry, and Energy (MI, Korea).

Publisher Copyright:
© 2001-2012 IEEE.

Copyright:
Copyright 2020 Elsevier B.V., All rights reserved.

All Science Journal Classification (ASJC) codes

  • Instrumentation
  • Electrical and Electronic Engineering

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