一种用于测量机器人ZMP的多点压力传感器  

A multi-point pressure sensor used for measuring the ZMP of Robots

作　　者：李国栋[1] 李光日[2] 田玉敏[1] 

机构地区：[1]武汉军械士官学校,湖北武汉430075 [2]北京理工大学智能机器人研究所,北京100081

出　　处：《微计算机信息》2010年第17期157-158,154,共3页Control & Automation

摘　　要：设计了一种多点压力传感器用于测量机器人的ZMP,利用应变电阻测量机器人足底各点压力,通过C8051F320单片机对压力信号进行模数转换并计算ZMP值,最后利用RS-485接口对外输出。经过实际应用,该压力传感器精度高、实时性好,适用于各种小型仿人机器人的ZMP测量。Muhi-point pressure sensor was designed to measure the ZMP of the robot. The sensor used strain resistance to measure the pressures of various points on robot＇s sole. The pressure signal was converted to digital codes by C8051F320 singlcchip. Lastly, ZMP value was output by RS-485 Bus. After its actual application, the pressure sensor is proven to have a high accuracy aad a good real-timing. It is thus can be used to measure the ZMP value of other Miniaturization Humanoid Robot.

关 键 词：机器人 ZMP 压力传感器 RS-485通讯 

分 类 号：TP212.12[自动化与计算机技术—检测技术与自动化装置]