A ZMP sensor for a biped robot

Author

Shimojo, Makoto ; Araki, Takuma ; Ming, Aigou ; Ishikawa, Masatoshi

Author_Institution

Dept. of Mech. Eng. & Intelligent Syst., Univ. of Electro-Commun., Chofu

fYear

2006

fDate

15-19 May 2006

Firstpage

1200

Lastpage

1205

Abstract

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

Keywords

force measurement; legged locomotion; motion measurement; pressure sensors; stability criteria; biped robot; gravity force; motion control; stability criterion; two-dimensional distributed load; zero moment point sensor; Foot; Force sensors; Intelligent robots; Intelligent sensors; Leg; Legged locomotion; Robot sensing systems; Sensor arrays; Sensor phenomena and characterization; Wiring;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on

Conference_Location

Orlando, FL

ISSN

1050-4729

Print_ISBN

0-7803-9505-0

Type

conf

DOI

10.1109/ROBOT.2006.1641872

Filename

1641872