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Development of Intelligent Foot with Six-axis Force/Moment Sensors for Humanoid Robot Proceedings of the 2008 IEEE International Conference on Robotics and Biomimetics Bangkok,Thailand, February 21 - 26, 2009 Student ID ： M9920105 Student ： Jyun-Ming Su Teacher ： Ming-Yuan Shieh PPT製作：100% Outline ABSTRACT INTRODUCTION DESIGN AND FABRICATION OF INTELLIGENT ROBOT’S FOOT CONTROL SYSTEM CALIBRATION AND CHARACTERISTIC TEST OF INTELLIGENT ROBOT’S FOOT CONCLUSIONS Abstract This paper describes the intelligent foot with sixaxis force/moment sensors for humanoid robot. In order to walk on uneven surface safely, the robot should measure the reaction forces and moments applied to the soles of the feet, and they should be controlled with the measured the forces and moments for his weight balance. First, the body of foot was designed to be rotated of front-part and rearpart the sole to all directions, second, the six-axis force/moment sensors were manufactured, third, the high-speed controller was manufactured using DSP (digital signal processor), finally the characteristic test of the intelligent foot was carried out. It is thought that the foot could be used for a humanoid robot walking on uneven surface safely. Introduction Scientist and engineers have been researching to develop a humanoid robot with the similar function of human being. The humanoid robot in the future will more stay outdoor environment than indoor environment to work instead of human being. In this paper, the intelligent foot for a humanoid robot that can safely walk on uneven surface was developed. First, the body of foot was designed to be rotated frontpart and rearpart of the sole to all directions. second, the six-axis force/moment sensors were manufactured. third, the highspeed controller was manufactured using DSP(digital signal processor). finally, the characteristic test of the intelligent foot was carried out. DESIGN AND FABRICATION OF INTELLIGENT ROBOT’S FOOT INTELLIGENT ROBOT’S FOOT The control system measures the values from two 6-axis force/moment sensor (twelve sensors), and control four motors attached four linear moving structures with them. The developed linear moving fixture is composed of a spherical joint, a LM guide, a body, a moving block, a moving screw, a fixture block, a limit sensor, and so on. 6-AXIS FORCE/MOMENT SENSOR The design variables of 6-axis orce/moment sensor are the size of the body, the rated outputs of each sensor, the rated loads of each sensor, and the sizes of PPBs 1 b , 2 b , b3 , 1 t , 2 t , t3 , 1 l , 2 l , l3 . In this paper, the sensing elements of the 6-axis force/moment sensors were designed by applying the determined variables into ANSYS software. TABLE I STRAINS FROM FEM ANALYSIS AT EACH ATTACHMENT LOCATION OF STRAINGAGES OF EACH SENSOR OF 6-AXIS FORCE/MOMENT SENSOR The 6-axis force/moment sensors were fabricated by attaching strain-gages (model of N2A-13-S1452-350, Micro- Measurement Company, gage factor of 2.03, size of 3u7.2mm) on the each sensing elements, and by composing of Wheastone bridges . CHARACTERISTIC TEST OF 6-AXIS FORCE/MOMENT SENSOR AND CONSIDERATIONS The characteristic test of the 6-axis force/moment sensors were carried out by applied the rated forces Fx=Fy=500N, Fz=1200N and moments Mx=My=18Nm, Mz=8Nm to it using the 6-axis force/moment sensor calibration system. The rated strains from FEM (finite element method) analysis are exchanged into the rated outputs to be compared with the values of the characteristic test. The equation of the rated output can be written as follows: CONTROL SYSTEM The A/D converters are used to convert the analog signals from four 6-axis force/moment sensors into the digital signals, and the parallel interface is used to send the signals to LCD. CALIBRATION AND CHARACTERISTIC TEST OF INTELLIGENT ROBOT’S FOOT CONCLUSIONS The 6-axis force/moment sensors for the front-part and the rear-part of the sole were fabricated. its maximum interference error is less than 3%. Thus, it is thought that the developed intelligent foot could be used for humanoid robot walking on uneven surface.