Data Acquisition And Processing For Humanoid Robot Foot Sensing System

The research of humanoid robots which contains the technology of mechanism, electronics, computer, materials, sensors and control technology represents the level of high technology development in one country. As a pragmatic prerequisite, stable bipedal walking is an important aspect in the research of the humanoid robot. Research institutions at home and abroad have been working in the research of the humanoid robot gait planning and stability control method. Although stable walking technology has made great breakthroughs, there is still a long distance to the practical use, which, the lack of the real-time sensing of gait and ground information is one of the major constraints.This paper takes the"863 key projects - unit and system performance of humanoid robot"as the research background. In order to address these problems, the research of foot sensing system of humanoid robot is carried out. This paper mainly presents the integrated sensing systems of humanoid robot foot structure, the module design of information acquisition, the experiments of function and so on. The humanoid robot foot sensing system which presents in the paper integrate the module of six axis force sensor, attitude sensor, flexible force sensor array togrther, with the ability of identify of various terrestrial environment and the foot posture. This humanoid robot foot sensing system can sense and estimate the real-time information of the foot contact, effective support area, ground reaction forces and posture sensing during the progress of the robot motion, and provides information for the further explore the humanoid robot gait planning. Main content of the paper as follows:(1)Introduce the current development of humanoid robot and its of foot structure. Make system design of humanoid robot foot sensing system on the base of conclude it.(2)Introduce the humanoid robot foot sensing system, including system configuration, layout and function of each module.(3)Introduce the criterion of ZMP stability, and the detailed process of obtaining stable ZMP trajectory and the effective support area by using six-axis force sensors and flexible force sensor array.(4)Introduce the importance of foot posture in the process of humanoid robot stably walk, and the process that the attitude sensor get it. (5)Experiments the availability of the foot humanoid robot perception system and put the future forward.