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

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School of Electrical Engineering | Master's thesis
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Date

2011

Department

Automaatio- ja systeemitekniikan laitos

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.

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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

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Citation

Permanent link to this item

https://urn.fi/URN:NBN:fi:aalto-2020122358332

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[dipl] Sähkötekniikan korkeakoulu / ELEC