Model Based In Situ Calibration with Temperature compensation of 6 axis Force Torque Sensors

It is well known that sensors using strain gauges have a potential dependency on temperature. This creates temperature drift in the measurements of six axis force torque sensors (F/T). The temperature drift can be considerable if an experiment is long or the environmental conditions are different from when the calibration of the sensor was performed. Other $\mathit{\text{in}}\mathit{\text{situ}}$ methods disregard the effect of temperature on the sensor measurements. Experiments performed using the humanoid robot platform iCub show that the effect of temperature is relevant. The model based $\mathit{\text{in}}\mathit{\text{situ}}$ calibration of six axis force torque sensors method is extended to perform temperature compensation.