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Design of a 23-DOF Small Humanoid Robot with ZMP Force Sensors

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Informatics in Control, Automation and Robotics

Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 132))

Abstract

This paper presents a design of a 23-DOF small humanoid robot with force sensors for zero moment point (ZMP) measurement. Piezoresistive strain gauges are used under the feet of the robot to measure ground reaction force which is used to locate ZMP under the robot foot support area. The robot also uses gyroscope and acceleration sensor for motion control.The robot developed is capable of all directional walking, running and performing different kung fu like actions.Design specifications, joints distribution, walking planning of the robot, ZMP measurement scheme and vibration control using gyro sensor are discussed in this paper.

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Author information

Authors and Affiliations

  1. Key Laboratory of Biomimetic Robots and Systems, Beijing Institute of Technology, Ministry of Education, Beijing, P.R. China

    Awais Yasin, Qian Xu, Bo Chen, Qiushi Lu & M. Waqas Khan

  2. Intelligent Robotics Institute, School of Mechatronics Engineering, Beijing Institute of Technology, 5 Nandajie, Zhongguancun, Haidian, Beijing, 100081, P.R. China

    Awais Yasin, Qian Xu, Bo Chen & Qiushi Lu

Authors
  1. Awais Yasin
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  2. Qian Xu
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  3. Bo Chen
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  4. Qiushi Lu
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  5. M. Waqas Khan
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Corresponding author

Correspondence to Awais Yasin .

Editor information

Editors and Affiliations

  1. , School of Electronic Engineering, Wuhan Institute of Technology, Lvting yajing 10-3-102, Wuhan, 430079, China, People's Republic

    Honghua Tan

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© 2011 Springer-Verlag Berlin Heidelberg

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Yasin, A., Xu, Q., Chen, B., Lu, Q., Khan, M.W. (2011). Design of a 23-DOF Small Humanoid Robot with ZMP Force Sensors. In: Tan, H. (eds) Informatics in Control, Automation and Robotics. Lecture Notes in Electrical Engineering, vol 132. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-25899-2_5

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  • DOI: https://doi.org/10.1007/978-3-642-25899-2_5

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-25898-5

  • Online ISBN: 978-3-642-25899-2

  • eBook Packages: EngineeringEngineering (R0)

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