Design And Implementation Of The Sensing And Detection Module For Humanoid Robots

Humanoid robot is one of the challenging research subjects in robotics research. Sensing technology is one of the key technologies in humanoid robot study. The reason for humanoid robot to accomplish the operation in known or unknown environment is that it can perceive external environment and its own state through sensors to get feedback and achieve closed loop control. The research on high performance sensing technology is indispensable for humanoid robot to complete operation precisely and flexibility.In this thesis, introduction of the developing status and trend of humanoid robot are presented firstly. Subsequently, the electromagnetic compatibility of humanoid robot is studied. Then, a home position acquisition module is designed based on the research of robot structure. In the end, based on the analysis of the walking stability, a plantar pressure detection module is designed by using multiple one-dimensional pressure sensors.The main contributions can be summarized as follows:1. According to the humanoid robot, the electromagnetic compatibility is analyzed. Starting from the three elements of electromagnetic interference, this thesis gives some measures for restraining electromagnetic interference in humanoid robot especially for electromagnetic interference of motor. The research results provide basis for electric wiring, equipment fixing, circuit board making.2. A home position detection module is designed and realized based on TMS320F2808.This thesis develops the home position sensing detection module according to the requirement of return-to-home. DSP-TMS320F2808 has selected as main control chip and Potentiometer as angle sensor by comprehensive consideration of mechanical design, installation and communication. The hardware and software have been designed and completed. Integration testing is presented. The testing results indicate that the module meets the design requirements. The module has been applied on humanoid robot prototype successfully.3. A method of return-to-home is provided by using angle sensor and incremental encoder. The measurement accuracy is increased from 0.1°to 0.00073°。4. A foot pressure detection module is designed and realized based on ATmega8。This thesis develops,the foot pressure detection module on the basis of ZMP stability criterion. Microprocessor ATmega8 has selected as main control chip and FlexiForce A201 as sensor. The hardware and software have been designed and completed. Integration testing is presented. The testing results indicate that the module meets the design requirements. Sensor calibration is studied as well.