ADXL203型双轴加速计在机器人足部感知系统中的应用
仿人机器人要实现在复杂环境下稳定行走，仅仅依靠地面反力信息远不能满足应用要求，此时足部的倾角信息显得更为重要。脚面倾角可以反映地面倾斜状态，是仿人机器人稳定控制的一个重要依据。利用ADXL203双轴加速度传感器与DSP（TMS3202811）实现对倾角信息的实时高速采集与处理，并通过实验证明了倾角传感器在机器人足部感知系统中是可行的。...
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| Published in | 电子技术应用 Vol. 38; no. 5; pp. 59 - 61 |
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| Main Author | |
| Format | Journal Article |
| Language | Chinese |
| Published |
中国科学院合肥智能机械研究所,安徽合肥230031%中国科学院合肥智能机械研究所,安徽合肥,230031%中国科学院强磁场科学中心,安徽合肥,230031
2012
中国科学技术大学自动化系,安徽合肥230026 |
| Subjects | |
| Online Access | Get full text |
| ISSN | 0258-7998 |
| DOI | 10.3969/j.issn.0258-7998.2012.05.030 |
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| Summary: | 仿人机器人要实现在复杂环境下稳定行走，仅仅依靠地面反力信息远不能满足应用要求，此时足部的倾角信息显得更为重要。脚面倾角可以反映地面倾斜状态，是仿人机器人稳定控制的一个重要依据。利用ADXL203双轴加速度传感器与DSP（TMS3202811）实现对倾角信息的实时高速采集与处理，并通过实验证明了倾角传感器在机器人足部感知系统中是可行的。 |
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| Bibliography: | In complex environments, ground reaction force can not meet the demand of walking stably for humanoid robot, then angle information of foot is more important in this application. The feet dip angle can reflect the sloping ground state, it is an important basis of the humanoid robot stability control.The high-speed real-time collection and processing of angle information is realized by using ADXL203 dual axle acceleration sensor and DSP （TMS3202811）, and through the experiment proof that the tilt sensors in the robot foot perception system is feasible. humanoid robot ; foot sensing system ; dip angle ; acceleration 11-2305/TN Shen Haiyi, Wu Baoyuan, Ren Yang, Shen Fei, Wu Zhongcheng （1.University of Science and Technology of China, Hefei 230026, China; 2.Insititute of Intelligent Machines,CAS, Hefei 230031, China; 3.High Magnetic Field Laboratory, CAS, Hefei 230031 ,China） |
| ISSN: | 0258-7998 |
| DOI: | 10.3969/j.issn.0258-7998.2012.05.030 |