An innovative torque sensor design for the lightest hydraulic quadruped robot

H. Khan (Lead / Corresponding author), F. Cannella, D. G. Caldwell, C. Semini

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

High-performance legged robots that are required to navigate on unstructured and challenging terrain benefit from torque-controlled joints. High-fidelity torque measurements are crucial for proper joint torque control. Commercially available torque sensors are expensive and often hard to integrate into compact and light-weight robot leg designs. Custom-made sensors on the other hand often suffer from asymmetric behaviour with respect to direction of rotation or poor linearity, especially for small and compact applications. This work is motivated by the need to achieve reliable torque measurements for the newly developed, small-size hydraulically actuated quadruped robot MiniHyQ. The main contribution of this work is the development of a new innovative design of a strain gauge based torque sensor with a high degree of linearity, symmetry, and scalability (both in dimension and measuring range). Furthermore, the glueing and wiring of the strain gauges are easy thanks to the geometry of the sensor that allows direct access to the mounting surfaces, even in compact dimensions. We show the design's symmetric (clockwise and counterclockwise rotation) and linear behaviour through virtual prototyping and experimental tests. Furthermore, we show how a small-scale instance of the sensor design is successfully installed on the MiniHyQ robot.

Original languageEnglish
Title of host publicationAssistive Robotics
Subtitle of host publicationProceedings of the 18th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2015
EditorsMohammad Osman Tokhi, Hongye Su, Tianmiao Wang
Place of PublicationSingapore
PublisherWorld Scientific Publishing Co. Pte Ltd
Pages309-316
Number of pages8
ISBN (Print)9789814725231
Publication statusPublished - 2015
Event18th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2015 - HangZhou, China
Duration: 6 Sep 20159 Sep 2015

Conference

Conference18th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2015
CountryChina
CityHangZhou
Period6/09/159/09/15

Keywords

  • Quadruped robot design
  • Strain gauge based sensor
  • Torque sensor

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  • Cite this

    Khan, H., Cannella, F., Caldwell, D. G., & Semini, C. (2015). An innovative torque sensor design for the lightest hydraulic quadruped robot. In M. O. Tokhi, H. Su, & T. Wang (Eds.), Assistive Robotics: Proceedings of the 18th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2015 (pp. 309-316). World Scientific Publishing Co. Pte Ltd.