Foot force sensor implementation and analysis of ZMP walking on 2D bipedal robot with linear actuators

No Thumbnail Available
Journal Title
Journal ISSN
Volume Title
School of Electrical Engineering | Master's thesis
Checking the digitized thesis and permission for publishing
Instructions for the author
Date
2011
Major/Subject
Automaatiotekniikka
Mcode
AS-84
Degree programme
Language
en
Pages
92 s. + liitt.
Series
Abstract
The objectives of this study were to implement force sensors on the feet of a bipedal robot and analyse their response at different conditions. The data will be used to design a control strategy for the robot. The powered joints of the robot are driven by linear motors. A force sensor circuit was made and calibrated with different kinds of weight. A trajectory generator and inverse kinematics calculator for the robot were made to control the robot walking movement in an open-loop manner. The force data were taken at a certain period of time when the robot was in a standing position. Experiments with external disturbances were also performed on the robot. The ZMP position and mass of the robot were calculated by using the data of force sensors. The force sensor circuit was reliable in taking and handling the data from the sensor although the noise from the motors of the robot was present.
Description
Supervisor
Halme, Aarne|Hyyppä, Kalevi
Thesis advisor
Peralta, José-Luis
Keywords
bipedal robot, center of pressure, legged locomotion, sensor calibration, strain gage, trajectory generator, zero moment point
Other note
Citation