Hexapod robot balance question

Hello,
I am in the process of designing a hexapod robot for fun.
The problem I have is the following: I want be able to measure the
load of each leg so I can stabilise the robot and divide the robot weight to all touch-down legs. Can you give me any hints on how I can do it?
I've thought of using a spring with a linear potentiometer at each leg, but what worries me is that the leg and consequently the whole body may oscillate due to the springs. On the other hand, using springs with greater spring constant (K) it may render them useless because they won't expand.
Are there any devices that can measure weight without match displacement of their mechanical parts?
Regards, Vangelis Rokas
Add pictures here
<% if( /^image/.test(type) ){ %>
<% } %>
<%-name%>
Add image file
Upload
On Fri, 11 Jul 2003 12:54:10 +0300, "Vangelis Rokas"

Yes. A load cell or strain guage. Do a google search for "strain guage robotics". You will find alot of useful information.
Bennet
Add pictures here
<% if( /^image/.test(type) ){ %>
<% } %>
<%-name%>
Add image file
Upload

Polytechforum.com is a website by engineers for engineers. It is not affiliated with any of manufacturers or vendors discussed here. All logos and trade names are the property of their respective owners.