2015
Force sensing shell using a planar sensor for miniature legged robots
IROS 2015poster
Mobile robot contact sensing can be useful for navigation and manipulation with small robots. In this work, we present a low-cost, 18.7 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 t…