Methods and systems for force sensor calibration
US9778132B1 · kind B1 · utility
Assignee
Inventors
Key dates
| Filing date | Dec 16, 2015 |
| Grant date | Oct 3, 2017 |
| Priority date | — |
| Expiry date | Dec 16, 2035 |
Classification
- Technology area (CPC Y)Emerging Cross-Sectional Technologies
- CPC primaryY10S901/01
- WIPO fieldMeasurement
- WIPO sectorInstruments
Abstract
An implementation may involve causing a foot of a robot to orient in a first position, where the foot comprises a sole configured to contact a surface, where the sole comprises a first edge and a second edge, and where in the first position: (i) the first edge contacts the surface, and (ii) a zero moment point (ZMP) is located on the first edge; receiving, from a force sensor, (i) first force data indicative of a first force and (ii) first moment data indicative of a first moment; determining a calibration of the force sensor based at least in part on the first force data, the first moment data, and a distance between the ZMP and a measurement location on the robot; and while the robot is engaged in bipedal movement, controlling the bipedal movement of the robot based at least in part on the calibration.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.