小型仿人机器人脚底传感系统的设计与实现
Journal Title: Science Paper Online - Year 2010, Vol 5, Issue 1
Abstract
针对小型仿人机器人的零力矩点(ZMP)轨迹在线确定问题，设计了一种基于多个简单一维力/力矩传感器的脚底传感阵列系统以及一种距离可调的多孔、双夹板机构，用以安装力/力矩传感器，并实现了脚底传感器信号多级放大及采集软硬件系统。应用CAN总线接口实现了与外部上层控制器的通信。实现了小型仿人机器人行走过程中实际ZMP轨迹的在线计算和实时传递。实验结果证明，该传感系统能够有效地完成脚底力信息的实时采集、计算与通讯。
Authors and Affiliations
Xiaolong Wang, Zushu Li , Fangzheng Xue
Keywords
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