Note that this is the v2 version, you can have a look at the v1 branch for the previous release
Here is a design of a robot foot using strain gauges as force sensors. It was used by the Rhoban Football Club (France) during the RoboCup 2016.
If you have any question feel free to contact [email protected] to ask it, or open an issue on this repository.
Here are the repository contents, you can click on below links to get the documentation:
- A mechanical design suitable for Rhoban robots, that can be a good base to be adapted to fit your needs;
- Schematics for an electronics board containing all the components to get the values from the sensors and communicate them through dynamixel;
- A firmware for the controller that is on the electronics.