A ZMP sensor for a biped robot

Shimojo, Makoto; Araki, Takaya; Ming, Aigou; Ishikawa, Masatoshi

doi:10.1109/robot.2006.1641872

Cited by 26 publications

(17 citation statements)

References 12 publications

(9 reference statements)

Supporting

Mentioning

Contrasting

Order By: Relevance

“…According to the calculation of ZMP, we have [25] [25][26] shows that, according to eq. (5), the location of ZMP closest to the contact point has the maximum F z .…”

Section: Improvement In Simplifying Algorithmmentioning

confidence: 99%

An Improved Force-Angle Stability Margin for Radial Symmetrical Hexapod Robot Subject to Dynamic Effects

Long

Xin

Deng

et al. 2015

International Journal of Advanced Robotic Systems

View full text Add to dashboard Cite

This paper presents a study on stability monitoring for a radial symmetrical hexapod robot under dynamic conditions. The force-angle stability margin (FASM) measure method has been chosen as the stability criterion. This is because it is suitable for the stability analysis, in terms of external forces or manipulator loads acting on the body. Considering that a radial symmetrical hexapod robot can tumble along the contact point besides tip-over axis, this paper proposes an improved FASM measure method. Furthermore, it provides the method for calculating the stability angle of contact point and simplifies the algorithm of FASM. To verify the improved FASM measure method, three potential dynamic situations have been simulated. The simulation results confirm that, under dynamic conditions, the improved FASM is efficient, simple in terms of calculation cost and sensitive to manipulator loads and external disturbances. This means it has practical value in on-line controllers.

show abstract

“…According to the calculation of ZMP, we have [25] [25][26] shows that, according to eq. (5), the location of ZMP closest to the contact point has the maximum F z .…”

Section: Improvement In Simplifying Algorithmmentioning

confidence: 99%

An Improved Force-Angle Stability Margin for Radial Symmetrical Hexapod Robot Subject to Dynamic Effects

Long

Xin

Deng

et al. 2015

International Journal of Advanced Robotic Systems

View full text Add to dashboard Cite

show abstract

“…For example, resistive sensor arrays are mounted on the foot soles of small-size humanoid robots without ankle FT sensors to enable the direct measurement of the CoP. [17][18][19][20] For bigger robot sizes (closer to human size and weight), resistive sensors are combined within the structural layers of the soles to increase the sensing range and endurance. 21,22 Likewise, other tactile sensing principles have been applied as the optical measurement of rubber deformation 23 or the high-speed pressure sensor grid 24 which can acquire the pressure shape of the foothold at a frequency of 1 kHz.…”

Section: Related Workmentioning

confidence: 99%

Plantar Tactile Feedback for Biped Balance and Locomotion on Unknown Terrain

Guadarrama-Olvera

Leon

Bergner

et al. 2020

Int. J. Human. Robot.

View full text Add to dashboard Cite

This work introduces a new sensing system for biped robots based on plantar robot skin, which provides not only the resultant forces applied on the ankles but a precise shape of the pressure distribution in the sole together with other extra sensing modalities (temperature, pre-touch and acceleration). The information provided by the plantar robot skin can be used to compute the center of pressure and the ground reaction forces. This information also enables the online construction of the supporting polygon and its preemptive shape before foot landing using the proximity sensors in the robot skin. Two experiments were designed to show the advantages of this new sensing technology for improving balance and walking controllers for biped robots over unknown terrain.

show abstract

“…However, distributed tactile sensors require numerous sensor elements and complicated wiring. A potential solution to this issue is the center of pressure (CoP) sensor developed by Shimojo and Ishikawa et al [12,13], which dramatically reduced the number of wires required.…”

Section: Related Workmentioning

confidence: 99%

Rubber artificial skin layer with flexible structure for shape estimation of micro-undulation surfaces

2020

View full text Add to dashboard Cite

In this paper, we propose a wearable tactile sensor for measuring the shape of micro-undulations on a hard surface. The proposed sensor has two layers. The inner one is a thin rubber layer into which a strain gauge is embedded that is formed around a user's finger. The outer layer is a flexible structure that consists of numerous pins on a flexible sheet. The shape of micro-undulations on an object surface can be measured when a user wearing the sensor traces the surface. The results of an experiment, in which we compare the cases with and without the flexible structure of the sensor, show that our proposed sensor is sufficiently accurate to measure the shape of micro-undulations due to its flexible structure, which contributes significantly to improving its signal-to-noise ratio. Publisher's NoteSpringer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

show abstract

A ZMP sensor for a biped robot

Cited by 26 publications

References 12 publications

An Improved Force-Angle Stability Margin for Radial Symmetrical Hexapod Robot Subject to Dynamic Effects

An Improved Force-Angle Stability Margin for Radial Symmetrical Hexapod Robot Subject to Dynamic Effects

Plantar Tactile Feedback for Biped Balance and Locomotion on Unknown Terrain

Rubber artificial skin layer with flexible structure for shape estimation of micro-undulation surfaces

Contact Info

Product

Resources

About