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jeljaik / WB-Team-Issues

This repository serves as a container of all the main issues related to the realization of the first year demo of the european project KOROIBOT.
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Double F/T sensor to address foot mechanical flexibility. #7

Open jeljaik opened 10 years ago

jeljaik commented 10 years ago

doublesensor

traversaro commented 10 years ago

For using this couple of sensors as a drop-in replacement for one sensor, we'll have to write a custom driver that combines the readings of the two FT sensors and it returns the resulting FT, expressed in the refence frame of the original frame. For doing this we need some geometric information, provided in the following images. This image illustrate the distance between the two sensors: silvio This image illustrate the distance between the rear sensor and the old single sensor. oldftsens_to_rearftsens

traversaro commented 9 years ago

Additional information needed for proper emulating the single sensor with the readings of the two sensors: the orientation of the sensor on the back (sensor 0) is the same of the single ankle sensor, while the sensor on the front (sensor 1) is rotated by 180 around the z axis of the sensor (http://wiki.icub.org/wiki/FT_sensor).

traversaro commented 9 years ago

Driver for this device added in https://github.com/robotology/icub-main/pull/61 .

traversaro commented 9 years ago

Initial test revelead that internal mounting forces were already overflowing the internal 6 axis FT sensor DAC. We then substituted back the original ankle. We are now in idle in this activity waiting for updates from the mechanical department.