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.
Dynamic locomotion in the mit cheetah 3 through convex model-predictive con- trol,
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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.