Stepping on a Brake Peddal and Recovering From Slipping Using a Foot With Dual Core-Shell Structure Six-Axis Force Sensors

Abstract

To realize a robust automobile driving behavior of musculoskeletal tendon-driven humanoids, we developed a new six-axis force measurement module with a core-shell structure. The core-shell structure consists of core part, shell part and loadcells between two parts, and a six-axis force sensor with this structure enables space saving, high load capacity and freedom of designing of sensing surface at the same time. By developing a foot unit incorporating two core-shell structural six-axis force sensors on its toe and heel, we realized behaviors of stepping on a brake pedal and recovering from slipping with a lifesized musculoskeletal humanoid ”Musashi” and confirmed the effectiveness of the core-shell structure.