FT sensor
From Wiki for RobotCub and Friends
- The F/T sensor (6-dof) has been also design to fit the iCub. In particular, the size of the sensor has been made compatible with an existing commercial product.
On the other hand the electronics has been made to fit the sensor itself and consequently reducing space.
- The F/T sensor is based on semiconductor-based strain gauges.
- The F/T sensor electronics is called STRAIN and it is available from the iCubPlatform CVS module. In particular see here
- More documents are available here:
- There are four F/T sensors on the iCub located in the upper arms and upper legs respectively. This is an unconventional placement that requires some extra computation to map the sensor's measurement to joint level torque control.
- F/T sensors comunicate via the CAN bus. Specifically, they have the following location:
| F/T sensor location | canDeviceNum | boardId | |
|---|---|---|---|
| left_arm | -> | 1 (pcan) | 13 |
| right_arm | -> | 2 (pcan) | 13 |
| left_leg | -> | 3 (pcan) | 13 |
| right_leg | -> | 3 (pcan) | 14 |
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