In complex environments, ground reaction force can not meet the demand of walking stably for humanoid robot, then angle information of foot is more important in this application. The feet dip angle can reflect the sloping ground state, it is an important basis of the humanoid robot stability control.The high-speed real-time collection and processing of angle information is realized by using ADXL2O3 dual axle acceleration sensor and DSP (TMS3202811), and through the experiment proof that the tilt sensors in the robot foot perception system is feasible.%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远不能满足应用要求,此时足部的倾角信息显得更为重要.脚面倾角可以反映地面倾斜状态,是仿人机器人稳定控制的一个重要依据.利用ADXL203双轴加速度传感器与DSP (TMS3202811)实现对倾角信息的实时高速采集与处理,并通过实验证明了倾角传感器在机器人足部感知系统中是可行的.
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