Detecting Centroid for a Quadruped Robot with Hand-fused Foot Based on ARM
Because weight is unsymmetrical for the robot with hand-fused foot, a method is found to calculate the centroid coordinate from the perspective of Newtonian mechanics. Centroid coordinate of the robot is detected using ARM, pressure sensors, distance measuring sensors, and multiplexer. Software is designed for the centroid detection from 3 aspects as multiplexer chip selection, A/D conversion operations, and centroid calculation. Centroid projection detection has certain reference value for gait generation and path planning.
ARM Robot Centroid
Xinjie Wang Zhilin Yang Xianquan Zeng Yuxiao Zhang
Department of Electromechanical Science and Engineering, Zhengzhou University of Light Industry, Dongfeng Road No.5, Zhengzhou, Henan, China
国际会议
合肥
英文
239-242
2011-09-23（万方平台首次上网日期，不代表论文的发表时间）