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SENSORY SYSTEM FOR THE DETERMINATION OF THE STEPPING FORCES OF MOBILE ROBOTS

10.15660/AUOFMTE.2016-3.3264

Ioan STROE

stroei@unitbv.ro

The mobile robot is a real interesting element in research. The stepping robots present interest for the quality that they can show on the hilly ground. The movement in a certain pace of a bipedal robot demands the achievement of a dynamic that imposes them a certain balance. The sensory system associated with the bipedal robots must ensure the transfer of information to the execution elements in real time. In the paper, the author presents a strength sensorial system attached to the stepping robot’s sole. The paper presents the constructive shape of the sole and of the sensory strain cells. The sole is articulated and allows the robot to realize a rolling-like leg. The information sent by the sensory system that is part of the robot’s leg are used to detect the contact between the leg and the ground’s surface, determining the position and the balance of the robot.

robot, biped, walking, sensor, force

ISSN 1583-0691, CNCSIS "Clasa B+"