NAOqi Sensors - Overview | API | Tutorials
The ALFSR module generates the event footContactChanged() whenever the foot contact changes.
The module also generates several values in ALMemory: footContact, leftFootContact, rightFootContact, leftFootTotalWeight, rightFootTotalWeight.
NAO has four FSRs under each foot.
The aim of these sensors is to determine whether the Aldebaran robot’s feet are touching the ground or not. This information is used during the walk, where at least one foot must maintain contact with the ground while walking, otherwise the walk is stopped.
For more details, see Kill the walk task when the robot is lifted.
The value returned by leftFootTotalWeight and rightFootTotalWeight is not accurate enough to be meaningful, only the difference between two successive values has an interest.