Design and signal processing of the legged robot foot tip pressure sensor

Author

Xiaoqing Guan ; Xiaochuan Zhao

Author_Institution

Beijing Inst. of Technol., Beijing, China

fYear

2014

Firstpage

6094

Lastpage

6098

Abstract

The sensor and the information processing technologies are the basis for intelligent robots. At present, pressure sensor is widely used in the robotics. In order to overcome the shortcomings of traditional pressure sensors, a novel legged robot foot tip pressure sensor based on FSR and embedded system is proposed. The sensing circuit, the A/D convector circuit and data transmission circuit and the digital filtering based on wavelet is studied. Experimental results demonstrate that the designed sensor and filtering algorithm have good linear relationship between the input and output, high resolution, quick response and strong anti-noises performances.

Keywords

filtering theory; intelligent robots; legged locomotion; pressure sensors; signal processing; wavelet transforms; A/D convector circuit; FSR; data transmission circuit; digital filtering; embedded system; filtering algorithm; intelligent robot; legged robot foot tip pressure sensor; sensing circuit; sensor design; signal processing; wavelet transform; Digital filters; Foot; Legged locomotion; Noise; Robot sensing systems; embeded system; robot; sensor; signal processing;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control and Automation (WCICA), 2014 11th World Congress on

Type

conf

DOI

10.1109/WCICA.2014.7053764

Filename

7053764