Experimental Results
The experimental results are shown in figure 6. Figure 6a
and 6b show the results generated from the first configuration,
which is to integrate one pair of force sensors per foot. The
result shows a difference in the measurements of right and
left foot and from the sum of the feet forces it is not easy
to visualize the experimental steps. On the other hand, the
IMU values match the experimental steps of partial lowering
when picking from the table and a considerable bending
when picking and lowering from the ground.