An optical six-axis force/torque sensor with optimized T-beam geometry survives quadruped impacts with 0.375% drift, versus 3.93% for a commercial sensor.
Mini cheetah: A platform for pushing the limits of dynamic quadruped control,
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Parameter Optimization of Optical Six-Axis Force/Torque Sensor for Legged Robots
An optical six-axis force/torque sensor with optimized T-beam geometry survives quadruped impacts with 0.375% drift, versus 3.93% for a commercial sensor.