New Foot Sensors

Our robots have gotten new foot sensors. We were inspired by Team Rhoban from Bordeaux. ( https://github.com/Rhoban/ForceFoot )

We have improved on the original implementation. The possible update rate has been improved from the original 80 Hz to a theoretically possible 9.5 kHz. Our transfer rate through the bus is limited and thus we filter the output from the load cells and only transfer with a speed of 1 kHz.

We have put the Sensors  on the top side of the feet of our robots.

The feet of our robot with sensors on top.

We have implemented the sensors to help us gather more data and use this data to improve our walking and our animations by making them more stable.
We have put the sensors on our robots on the RoHOW. The sensors are able to measure 40 KG each without breaking. Of course we took that as a challenge and used two thumbs to create as much pressure as possible. There was not enough space near the sensors to use more than just two thumbs.

In the future we plan to scientifically compare how our measured center of pressure compares to an industrial 6 axis force torque sensor and publish our results. In the near future we also plan to release our improved version of the ForceFoot as opensource hardware.

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