A ZMP sensor for a biped robot
A ZMP sensor for a biped robot
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用于双足机器人的 ZMP 传感器
DOI：
10.1109/robot.2006.1641872
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发表时间：
2006
期刊：
影响因子：
--
通讯作者：
M. Ishikawa
中科院分区：
文献类型：
--
作者：
M. Shimojo;Takuma Araki;A. Ming;M. Ishikawa
提出了一种安装在两足机器人脚底的零力矩传感器，并给出了基本的实验结果。该传感器同时检测传感器表面的二维分布载荷的中心位置和分布的总载荷。该传感器外形呈片状，重量轻(0.2g/cm2)，提供高速响应(在1ms内)，并且需要少量布线(四根线)。本文介绍了该传感器的工作原理和特点，并给出了带有传感器的步行双足机器人的ZMP轨迹。
A sensor attached to the sole of the foot of a biped robot to detect a zero moment point (ZMP) is proposed and basic experimental results are presented. The sensor simultaneously detects the center position of a two-dimensional distributed load on the surface of the sensor and the total load of the distribution. The sensor is sheet-like in form, lightweight (0.2 g/cm2), offers a high-speed response (within 1 ms), and needs a little wiring (four wires). In the present paper, the principle of the above-described sensor and its characteristics are described, and the ZMP locus is shown for a walking biped robot with the attached sensors