Design and implementation on foot sensor system of small humanoid robot
Journal Title: Science Paper Online - Year 2010, Vol 5, Issue 1
Abstract
In order to on-line identify a small humanoid robot zero moment point (ZMP) trajectory, A kind of foot sensor array system based on a number of simple one-axis force／torque sensors, and an adjustable distance porous, double-plywood framework to install the force／torque sensor was designed. And we achieved multi-stage amplification of the foot sensor signals and the hardware and software system for collect information. We also realized communication with external micro control unit (MCU) by using controller area network (CAN) bus, as well as on-line calculation and real-time delivery of the actual ZMP trajectory throughout the whole walking phase. The actual experiments demonstrated that this sensor system can effectively complete the real-time collection, computing and communication of the feet force information.
Authors and Affiliations
Xiaolong Wang, Zushu Li , Fangzheng Xue
Keywords
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