Title :
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
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;
Conference_Titel :
Instrumentation and Measurement Technology Conference (I2MTC), 2011 IEEE
Conference_Location :
Binjiang
Print_ISBN :
978-1-4244-7933-7
DOI :
10.1109/IMTC.2011.5944336
