Signal Processing and Application of Six-axis Force/Torque Sensor Integrated in Humanoid Robot Foot

被引：4

作者：

Wu, Baoyuan ^{[1
]}

Yan, Qingquan ^{[1
]}

Luo, Jianfei ^{[2
]}

Wu, Zhongcheng ^{[2
]}

机构：

[1] Chinese Acad Sci, Inst Intelligent Machines, Hefei 230031, Peoples R China

[2] Chinese Acad Sci, High Field Magnet Lab, Hefei 230031, Peoples R China

来源：

JOURNAL OF SIGNAL PROCESSING SYSTEMS FOR SIGNAL IMAGE AND VIDEO TECHNOLOGY | 2014年 / 74卷 / 02期

关键词：

Signal Processing; FIR Filtering; Six-axis Force/Torque Sensor; Humanoid Robot;

D O I：

10.1007/s11265-013-0796-5

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Six-axis force/torque sensor (F/T sensor) that can detect three orthogonal forces and torques has been extensively adopted in humanoid robot foot for stable control. Due to the F/T sensors being seriously influenced by the electromagnetic interference from ankle generator, signal stability of F/T sensor is still one of the main influencing factors for accurately dynamical and stable control. Though the problem with influencing electromagnetic noise can be solved generally and partially by shielding of the sensor and wires, this traditional method will to some extend face implementation difficulty induced by special mounting space and application environment especially in humanoid robot ankle. Therefore, the research on the output signal stability and precision of the F/T sensors has still been one of the most essential subjects for humanoid robot dynamic equilibrium control. In this paper, some various signal processing methods have been adopted and analyzed comparatively with the aim at the output signal anti-interference processing of F/T sensors. And the filtering effect and its feasibility were verified experimentally in the dynamic walking motion of humanoid robot platform BHR-2.

引用

页码：263 / 271

页数：9

共 23 条

[1]

Bi Sheng, 2012, Advances in Autonomous Robotics. Joint Proceedings of the 13th Annual TAROS Conference and the 15th Annual FIRA RoboWorld Congress, P402, DOI 10.1007/978-3-642-32527-4_36

[2] Humanoid robot Lola: Design and walking control [J].

Buschmann, Thomas ;

Lohmeier, Sebastian ;

Ulbrich, Heinz .

JOURNAL OF PHYSIOLOGY-PARIS, 2009, 103 (3-5) :141-148

[3]

Espiau B., 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065), P3996, DOI 10.1109/ROBOT.2000.845354

[4]

Hashimoto K., 2013, DYNAM CONTROL, V544, P383

[5] Honda humanoid robots development [J].

Hirose, Masato ;

Ogawa, Kenichi .

PHILOSOPHICAL TRANSACTIONS OF THE ROYAL SOCIETY A-MATHEMATICAL PHYSICAL AND ENGINEERING SCIENCES, 2007, 365 (1850) :11-19

[6] Humanoid robotics platforms developed in HRP [J].

Hirukawa, H ;

Kanehiro, F ;

Kaneko, K ;

Kajita, S ;

Fujiwara, K ;

Kawai, Y ;

Tomita, F ;

Hirai, S ;

Tanie, K ;

Isozumi, T ;

Akachi, K ;

Kawasaki, T ;

Ota, S ;

Yokoyama, K ;

Handa, H ;

Fukase, Y ;

Maeda, J ;

Nakamura, Y ;

Tachi, S ;

Inoue, H .

ROBOTICS AND AUTONOMOUS SYSTEMS, 2004, 48 (04) :165-175

[7]

Ill-Woo Park, 2013, Applied Mechanics and Materials, V284-287, P1734, DOI 10.4028/www.scientific.net/AMM.284-287.1734

[8] ZMP-based biped running enhanced by toe springs [J].

Kajita, Shuuji ;

Kaneko, Kenji ;

Morisawa, Mitsuharu ;

Nakaoka, Shinichiro ;

Hirukawa, Hirohisa .

PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10, 2007, :3963-+

[9]

Kaneko K., 2004, NEW ORL P 2004 I E I

[10] ZMP based neural network inspired humanoid robot control [J].

Kim, Dong W. ;

Kim, Nak-Hyun ;

Park, Gwi-Tae .

NONLINEAR DYNAMICS, 2012, 67 (01) :793-806

← 1 2 3 →