Foot Prototype

The plan is to use a force sense resistor (FSR) on each foot to resonably accurately measure the force exerted. I also plan to have collision detection (e.g. for walking up stairs) but am still looking at various options.

Full unit showing the flat conductor ribbon cable taped to the leg with double sided tape:

Closeup showing the sensor covered by a self-adhesing door damper:

A quick plot showing the foot sensor working:

The test code i slapped together is available here. It has two parts for atmega32 and pc running linux with gnuplot installed.

Image showing one sensor installed on the robot. Click here for a video of it in action!