Force / Torque Sensor In The Humanoid Robot Motion Control

Force-torque sensor is one of the basic sensors for the humanoid robot. It plays an important role in sensing the world and adapting the humanoid robot to the environment.Firstly, the channels are built for the collection and transmission of information from force-torque sensors to upper machine through CAN bus, based on research of control system and control mode of humanoid robot.Secondly, the dynamic model of the humanoid robot is studied and the concept of FRI point is proposed to review the postural stability of the humanoid robot; then the relationship between information from force-torque sensors and ground reaction force-torque is found; whereafter the information from force-torque sensors is applied to calculate real-time position of FRI point; further more. the notion of postural stability margin is put forward based on FRI point and corresponding formulae are gained afterward.According to the disposal of information from force-torque sensors, the upright posture of the humanoid robot adjusting algorithm and strategy are represented, and the efficiency of the algorithm is verified by computer simulation; then the strategy of ankle joint regulation is studied during the course of the humanoid static walking.Finally, the information from force-torque sensors is applied in the lower control loop. And the nonlinear algorithm for local position servo is established using information from force-torque sensors through model analysis and computer simulation, more over the stability of designed system is proved by stability theorem of Lyapunov.