摘要
仿人机器人要实现在复杂环境下稳定行走,仅仅依靠地面反力信息是远不能满足应用要求的,此时足部姿态信息显得更为重要。为实现仿人机器人的稳定行走,自主开发了基于姿态传感器的足部感知系统,利用姿态传感器(ADIS16355)与TMS320F2811实现对姿态信息的实时高速采集与处理。实验证明姿态传感器在仿人机器人足部感知系统中的可行性。
In complex environments,ground reaction force can not meet the demand of walking stably for humanoid robot.Then foot attitude is more important in this application.In this paper,a foot perception system is designed based on attitude sensor（ADIS16355） and DSP（TMS320F2811） for the need of stabilization control of walking.And the system can achieve real-time and high-speed data acquisition and processing of attitude information.Experimental result confirms the feasibility of the performance of attitude sensor.
出处
《仪表技术》
2010年第9期68-70,共3页
Instrumentation Technology
基金
国家高技术研究发展计划(863计划)面上项目(2008AA04Z205)
国家高技术研究发展计划(863计划)重点项目(2008AA04206(01))
