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Author:Kusumah, Ferdi Perdana
Title:Foot force sensor implementation and analysis of ZMP walking on 2D bipedal robot with linear actuators
Publication type:Master's thesis
Publication year:2011
Pages:92 s. + liitt.      Language:   eng
Department/School:Automaatio- ja systeemitekniikan laitos
Main subject:Automaatiotekniikka   (AS-84)
Supervisor:Halme, Aarne ; Hyyppä, Kalevi
Instructor:Peralta, José-Luis
OEVS:
Electronic archive copy is available via Aalto Thesis Database.
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Location:P1 Ark Aalto  5170   | Archive
Keywords:bipedal robot
center of pressure
legged locomotion
sensor calibration
strain gage
trajectory generator
zero moment point
Abstract (eng): The objectives of this study were to implement force sensors on the feet of a bipedal robot and analyse their response at different conditions.
The data will be used to design a control strategy for the robot.
The powered joints of the robot are driven by linear motors.
A force sensor circuit was made and calibrated with different kinds of weight.

A trajectory generator and inverse kinematics calculator for the robot were made to control the robot walking movement in an open-loop manner.
The force data were taken at a certain period of time when the robot was in a standing position.
Experiments with external disturbances were also performed on the robot.
The ZMP position and mass of the robot were calculated by using the data of force sensors.
The force sensor circuit was reliable in taking and handling the data from the sensor although the noise from the motors of the robot was present.
ED:2011-10-04
INSSI record number: 42846
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