Force Sensing Shell using a Planar Sensor for Miniature Legged Robots

Joshua D. Goldberg and Ronald S. Fearing

EECS Department
University of California, Berkeley
Technical Report No. UCB/EECS-2016-26
May 1, 2016

http://www2.eecs.berkeley.edu/Pubs/TechRpts/2016/EECS-2016-26.pdf

Mobile robot contact sensing can be useful for navigation and manipulation with small robots. In this work, we present a low-cost, 40 gram force-torque sensor for a 10 cm hexapedal millirobot. A planar array of photointerrupters, rigidly attached to the structure of the robot, is used to measure the six-axis movement of a shell attached to the robot with springs. The sensors measure the intensity of infrared light reflected off of a surface on the underside of the shell, which has been specially designed to enable the resolution of the forces and moments in the x-, y-, and z-axes applied to the shell. The sensor has a force sensitivity of 17 mN and torque sensitivity of 0.72 mN-m for a sampling rate of 100 Hz. The sensor can resolve a force equivalent to 2.4% of the combined robot and sensor weight of 700 mN.

Advisor: Ronald S. Fearing


BibTeX citation:

@mastersthesis{Goldberg:EECS-2016-26,
    Author = {Goldberg, Joshua D. and Fearing, Ronald S.},
    Title = {Force Sensing Shell using a Planar Sensor for Miniature Legged Robots},
    School = {EECS Department, University of California, Berkeley},
    Year = {2016},
    Month = {May},
    URL = {http://www2.eecs.berkeley.edu/Pubs/TechRpts/2016/EECS-2016-26.html},
    Number = {UCB/EECS-2016-26},
    Abstract = {Mobile robot contact sensing can be useful for navigation and manipulation with small robots. In this work, we present a low-cost, 40 gram force-torque sensor for a 10 cm hexapedal millirobot. A planar array of photointerrupters, rigidly attached to the structure of the robot, is used to measure the six-axis movement of a shell attached to the robot with springs. The sensors measure the intensity of infrared light reflected off of a surface on the underside of the shell, which has been specially designed to enable the resolution of the forces and moments in the x-, y-, and z-axes applied to the shell. The sensor has a force sensitivity of 17 mN and torque sensitivity of 0.72 mN-m for a sampling rate of 100 Hz. The sensor can resolve a force equivalent to 2.4% of the combined robot and sensor weight of 700 mN.}
}

EndNote citation:

%0 Thesis
%A Goldberg, Joshua D.
%A Fearing, Ronald S.
%T Force Sensing Shell using a Planar Sensor for Miniature Legged Robots
%I EECS Department, University of California, Berkeley
%D 2016
%8 May 1
%@ UCB/EECS-2016-26
%U http://www2.eecs.berkeley.edu/Pubs/TechRpts/2016/EECS-2016-26.html
%F Goldberg:EECS-2016-26