IROS 2019poster6 citations
Foot with a Core-shell Structural Six-axis Force Sensor for Pedal Depressing and Recovering from Foot Slipping during Pedal Pushing Toward Autonomous Driving by Humanoids
Koki Shinjo, Kento Kawaharaduka, Yuki Asano, Shinsuke Nakashima, Shogo Makino, Moritaka Onitsuka, Kei Tsuzuki, Kei Okada
Abstract
To realize a robust automobile driving behavior of musculoskeletal tendon-driven humanoids, we developed a six-axis force measurement module with a core-shell structure. This sensor enables space saving, high load capacity and wholebody sensing at the same time. By developing a foot unit incorporating a core-shell structural force sensor on its toe, we realized behaviors of depressing a pedal and recovering from foot slipping during the depressing with a lifesized musculoskeletal humanoid ”Musashi”.
BibTeX
@inproceedings{iros2019_footwithacoreshe,
title = {Foot with a Core-shell Structural Six-axis Force Sensor for Pedal Depressing and Recovering from Foot Slipping during Pedal Pushing Toward Autonomous Driving by Humanoids},
author = {Koki Shinjo and Kento Kawaharaduka and Yuki Asano and Shinsuke Nakashima and Shogo Makino and Moritaka Onitsuka and Kei Tsuzuki and Kei Okada and Koji Kawasaki and Masayuki Inaba},
booktitle = {IROS 2019},
year = {2019}
}