Review of sensors and sensor integration for the control of a humanoid robot

Author

Gupta, Gourab Sen ; Barlow, Peter ; David, Sanjay

Author_Institution

Sch. of Eng. & Adv. Technol., Massey Univ., Palmerston North, New Zealand

fYear

2011

fDate

10-12 May 2011

Firstpage

1

Lastpage

5

Abstract

A 2-legged humanoid robot requires several types of sensors for balancing and gait generation. High accuracy and resolution of these sensors is of paramount importance for successful control of the humanoid. In this paper we review some of these sensors and evaluate their suitability for use in a small-sized humanoid. Various force sensors are reviewed and their advantages and disadvantages are discussed. Gyroscopes and AHRS (Attitude Heading Reference System) are investigated and tests are performed on all units to obtain operational characteristics and accuracy. These sensors have been incorporated and evaluated on an actual humanoid which has been built in our laboratories.

Keywords

force sensors; gyroscopes; humanoid robots; legged locomotion; 2-legged humanoid robot; attitude heading reference system; force sensor; gait generation; gyroscope; sensor integration; Accelerometers; Force; Magnetic sensors; Magnetometers; Robot sensing systems; Sensor phenomena and characterization; Attitude Heading Reference System (AHRS); Biped; Force Sensing Resistors; Humanoid; Inertial Measurement Unit (IMU); Pressure Sensor;

fLanguage

English

Publisher

ieee

Conference_Titel

Instrumentation and Measurement Technology Conference (I2MTC), 2011 IEEE

Conference_Location

Binjiang

ISSN

1091-5281

Print_ISBN

978-1-4244-7933-7

Type

conf

DOI

10.1109/IMTC.2011.5944336

Filename

5944336