Abstract—Simulating biped stability has long been an obstacle in the creation of practical humanoid robots. This study demonstrates, through experimentation, the feasibility of using piezoresistive pressure sensors, located on the sole of a robotic foot, as a means of maintaining balance while the robot is in stable equilibrium. Adjustments to this method may allow this approach to be extended to situations of dynamic equilibrium, particularly in cases where the phase of motion is determined by the angle of the foot.

Index Terms—Biped stability, Biped robot, Biped balance, Humanoid, Pressure sensors, Robotic foot

Cite: Akhil Cherian Verghese and Rohit John Varghese, "Achieving Biped Stability by Placing Piezoresistive Pressure Sensors on the Sole of a Robotic Foot," International Journal of Mechanical Engineering and Robotics Research, Vol.2, No. 1, pp. 254-262, January 2013.