US Patent 9778132 Methods and systems for force sensor calibration

An implementation may involve causing a foot of a robot to orient in a first position, where the foot comprises a sole configured to contact a surface, where the sole comprises a first edge and a second edge, and where in the first position: (i) the first edge contacts the surface, and (ii) a zero moment point (ZMP) is located on the first edge; receiving, from a force sensor, (i) first force data indicative of a first force and (ii) first moment data indicative of a first moment; determining a calibration of the force sensor based at least in part on the first force data, the first moment data, and a distance between the ZMP and a measurement location on the robot; and while the robot is engaged in bipedal movement, controlling the bipedal movement of the robot based at least in part on the calibration.