测量四足机器人的地面反作用力

2022 International Conference of Advanced Technology in Electronic and Electrical Engineering (ICATEEE) Pub Date : 2022-11-26 DOI:10.1109/ICATEEE57445.2022.10093750

N. Djelal, A. Ouanane, Isma Boudouane, A. Rezzoug

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引用次数: 0

摘要

为了更好地与环境相互作用，四足机器人的控制需要测量地面反作用力。本文考虑了四足机器人地面反作用力的两个正交分量。该系统由两个平行六面体弹性元件和应变片组成;采集系统基于高精度模数转换器(ADC)。Wheatstone全电桥用于温度补偿。结果表明，该系统具有较高的灵敏度，可达0.0002 N/g;重复误差可达0.1%。

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Measuring ground reaction forces of quadruped robot

the control of quadruped robot needs the measuring of the ground force reaction for better interaction with the environment. In this paper, we consider the two orthogonal components ground reaction forces of quadruped robot. The proposed system consists of two parallelepipeds elastic elements and strain gauges; the acquisition system is based on high precision analog digital converter (ADC). The Wheatstone full bridge is used for the temperature compensation. The obtained results show that the proposed system has a high sensitivity which can reach 0.0002 N/g; the repetition error can reach 0.1%.

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2022 International Conference of Advanced Technology in Electronic and Electrical Engineering (ICATEEE)

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