Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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Development of Humanoid Robot's Intelligent Foot with Six-axis Force/Moment Sensors

6축 힘/모멘트센서를 가진 인간형 로봇의 지능형 발 개발

  • Kim, Gab-Soon (ERI, Department of Control and Instrumentation Engineering, Gyeongsang National Univ.) ;
  • Kim, Hyeon-Min (ERI, Department of Control and Instrumentation Engineering, Gyeongsang National Univ.) ;
  • Yoon, Jung-Won (School of Mechanical and Aerospace Engineering and ReCAPT, Gyeongsang National Univ.)
  • 김갑순 (경상대학교 제어계측공학과) ;
  • 김현민 (경상대학교 제어계측공학과) ;
  • 윤정원 (경상대학교 기계항공공학부)
  • Published : 2009.05.01
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Abstract

This paper describes a humanoid robot's intelligent foot with two six-axis force/moment sensors. The developed humanoid robots didn't get the intelligent feet for walking on uneven surface safely. In order to walk on uneven surface safely, the robot should measure the reaction forces and moments applied on the sales of the feet, and they should be controlled with the measured the forces and moments. In this paper, an intelligent foot for a humanoid robot was developed. First, the body of foot was designed to be rotated the toe and the heel to all directions, second, the six-axis force/moment sensors were manufactured, third, the high-speed controller was manufactured using DSP(digital signal processor), fourth, the humanoid robot's intelligent foot was manufactured using the body of foot, two six-axis force/moment sensors and the high-speed controller, finally, the characteristic test of the intelligent foot was carried out. It is thought that the foot could be used for a humanoid robot.

Keywords

References

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