High-speed matrix pressure sensor for humanoid robot by using thin force sensing resistance rubber sheet

Abstract

INTRODUCTIONCurrent humanoid robots usully have high reduction geared motors, so that soft landing and stabilization control are very important. A 6-axis force sensor and gyro sensor are utilized for stabilization, but precise control requires landing area information. We have developed our humanoid robot H7 and successfully walk online on the flat floor or stair. However, on uneven surface, tactile information is becoming important to control landing shock absorption and balance control. We are working on a footstep planning technique in uneven surface[1], but it is also vital to achieve by real sensor and control system. As for human being walk, it has about 0.4 -0.6[s] cycle. COP motion for typical male subject (170[cm] tall) are as follows : average velocity is about 60[cm/s], travel length

Humanoid robot simulation with a joint trajectory optimized controller

“…For this robot, the joint position, speed and torque perception was planned. For enlarge the closed loop control, as a future feature, the accelerometers information and feet force sensing perceptions were also planned [11]. At the present, the real humanoid robot is not equipped with accelerometers and for similarity the simulator sensors were not included.…”

Signal processing of capacitive force sensors installed in the foot of an anthropomorphic robot

“…In contrast to the works discussed above, the matrix sensor [14] covers the entire foot surface of the H7 anthropomorphic robot pedipulators. The signal from the matrix sensor is measured with a period of 1 ms; an operational amplifier with an ADC is used as an interface circuit.…”

Flexible Contact Force Sensing Device Using Metal/Polymer Multilayer Structure for Robotic Applications

“…In robotic systems, pressure sensors can mainly be used for two applications. One is as a ground reaction force sensing device to assist biped robot balance control (5,6) and the other application is as a contact force sensing, i.e., tactile device for dexterous manipulation and human-robot interactions. (7) Micro pressure sensors can play a significant role in the balance of a biped locomotion system when it walks on an uneven surface.…”

“…Thus, the desired motion is planned so that the ZMP criterion is satisfied, and the controller is designed to realize such a desired motion. (5,6,8) The problem with this method occurs when the locomotion system walks on an uneven surface. Because of the unevenness, the biped locomotion system may tumble immediately.…”