Omni directional contact sensor

Abstract eng:
This paper presents design of intelligent sensor for robotic leg of quadruped experimental robot. Information about contact load as well as direction and magnitude of contact force is required for intelligent driving of robot activity. Suggested sensor will consist among others of three strain gauges. The mathematical model will calculate the position, magnitude and orientation of applied load by using artificial neural network based on measured strains in three positions. The finite element model (FEM) will be developed to obtain training data to adjust behavior of neural network with real structure. This paper will present first key study of this problem and suggestion for next research.

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