Detecting Centroid Projection for a Quadruped Robot with Hand-Fused Foot Based on ARM
Because weight is unsymmetrical for the robot with hand-fused foot, a method is found to calculate the centroid projection coordinate from the perspective of Newtonian mechanics. Centroid projection coordinate of the robot is detected with ARM, pressure sensors, distance measuring sensors, and multiplexer. Software is designed for the centroid projection detection from 3 aspects as multiplexer chip selection, A/D conversion operations, and centroid calculation. In the experiment, several groups of data were gained, which contained sensors data and centroid projection coordinate. Centroid projection detection has certain reference value for gait generation and path planning.
Jinglong Bu, Pengcheng Wang, Liqun Ai, Xiaoming Sang, Yungang Li
Y. X. Zhang et al., "Detecting Centroid Projection for a Quadruped Robot with Hand-Fused Foot Based on ARM", Advanced Materials Research, Vols. 287-290, pp. 2789-2792, 2011