Foot force sensor — Error analysis of the ZMP position measurement

This paper deals with the foot force sensor measurement analysis. The crucial information obtained from this measurement is the position of the ZMP that provides information about the biped's dynamic balance. The previously developed foot force sensors introduce a systematic error because of the way the sensors are mounted. This kind of error can be corrected but the question is whether it is necessary. The error correction will take additional processing time which may not be feasible. Therefore the error magnitude and sign is first analyzed to provide a criterion for deciding whether to do the correction or not. The correction procedure is also presented.