抄録
Robust walking motion of humanoid robots requires a sensor system that can accurately sense the contact between the robot and its environment. Many humanoid robots use strain gauge-based force sensors, force resistive sensor or optical sensors to obtain information about the contact state. In this paper, we propose the integration of differential air pressure sensors to detect ground contact which is crucial to initiate an appropriate response. The paper also focuses on different viscoelastic materials that can be used to develop the sensor and compare their results. Preliminary results highlighted that these sensor are suitable for contact detection. However, large hysteresis of these sensor remains as an issues to be used as a force sensor in the near future.
