Development of intelligent foot with six-axis force/moment sensors for humanoid robot

摘要

This paper describes the intelligent foot with six-axis force/moment sensors for humanoid robot. The developed humanoid robots have not gotten intelligent feet for walking safely. In order to walk on uneven surface safely, the robot should measure the reaction forces and moments applied to the soles of the feet, and they should be controlled with the measured the forces and moments for his weight balance. In this paper, the intelligent foot for a humanoid robot was developed. First, the body of foot was designed to be rotated of front-part and rear-part the sole to all directions, second, the six-axis force/moment sensors were manufactured, third, the high-speed controller was manufactured using DSP (digital signal processor), finally the characteristic test of the intelligent foot was carried out. It is thought that the foot could be used for a humanoid robot walking on uneven surface safely.