传感技术学报2011，Vol.24Issue(12)：1701-1706,6.DOI:10.3969/j.issn.1004-1699.2011.12.009
基于多传感器集成的仿人机器人足部感知系统
A Perceptual Foot System of Humanoid Robot Based on the Integration of Multi-Sensors
摘要
Abstract
It is well known that the foot of humanoid robot serves as not only the main part contacting with the ground but also the unique foundation for supporting the body. The capability of various kinds of ground information detection is certainly used as the key control of walking steadily and naturally for humanoid robot. A new-type perceptual foot system with perceive ability to detect and process various kinds of information (such as foot posture, support area,ground force and position,etc;)in complicated environments was designed on the integration of 6-axis force sensor, inertial measurement unit ( IMU) and flexible array sensor. Theoretical analysis and simulation results have proved the feasibility of the design, which provides research platform in promoting the innovation of humanoid robot for theoretical research, control technology, bionic gait planning and system structure.关键词
仿人机器人/足部感知系统(IPFS)/六维力传感器/惯量测量单元/柔性阵列力传感器Key words
humanoid robot/ IPFS/ F/T sensor /IMU/ flexible force array sensor(FFAS)分类
信息技术与安全科学引用本文复制引用
申飞,吴宝元,罗健飞,任阳,吴仲城..基于多传感器集成的仿人机器人足部感知系统[J].传感技术学报,2011,24(12):1701-1706,6.基金项目
国家高技术研究发展计划(863计划)面上项目(2008 AA042205) （863计划）
重点项目(2008AA0420601) （2008AA0420601）
