Optimum design method of multi-axis force sensor integrated in humanoid robot foot system

被引：40
|
作者：
Wu, Baoyuan [1 ]
Luo, Jianfei [1 ,3 ]
Shen, Fei [2 ]
Ren, Yang [1 ,3 ]
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
[3] Univ Sci & Technol China, Dept Automat, Hefei 230027, Peoples R China
来源：
MEASUREMENT | 2011年 / 44卷 / 09期
关键词：
Multi-axis force sensor (MFS); Structure elastomer; Integrated optimization; FEM; Orthogonal design; Range analysis;
D O I：
10.1016/j.measurement.2011.06.013
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
The multi-axis force sensor (MFS) has been extensively adopted in humanoid robot foot to obtain external forces/moments acted on the foot while in locomotion. The precision and comprehensive performances of MFS originally determined by its elastomer structure are significant essentially for humanoid robots to keep balance by detection of external forces/moments during walking motion. The reason for the transmission of coupling-error of structure is analyzed and then the optimum method for the function of objective-optimization of MFS compliance matrix, Finite Element Method (FEM), orthogonal design and range analysis method are all proposed synthetically. In addition, the comprehensive performances of MFS designed by the optimum method are analyzed and elaborated in a concrete design case. Finally, the main indexes of the MFS are verified experimentally through humanoid robot's dynamic walking motion. (C) 2011 Elsevier Ltd. All rights reserved.
引用
收藏
页码：1651 / 1660
页数：10
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