Dynamic walking control based on F/T sensor
Fig.1. RoboErectus with F/T sensors installed in the ankles
Balancing control in soccer kicking: Humanoid robot can detect the ZMP in real time while kicking the soccer. We install a 6axis Force/Torque sensor on the ankle of each leg. Then the zeromoment point can be calculated in real time while the robot is kicking a soccer or walking by a zeromoment point equation based on Lie group theory.
1.Force/Torque Sensor
ATI Force/Torque sensor Nano25 installed in the ankle of the humanoid robot.
Fig.2. F/T sensor Nano25 installed in the ankle Fig.3. Force analysis of F/T sensor
2. ZMP calculation
_{
}
_{
}
is zeromoment point, _{
}
, _{
}
, _{
}
, the coefficient _{
}
equal 1 or 1 to ensure the denominator to be positive. _{
}
is the reaction force of the ground.
2.1 An example
Fig.4. The force of the supporting foot during kicking
Fig.5. The moment of the supporting foot during kicking
Fig.6. ZMP distribution on the supporting foot during a kicking motion
3. Future work
Optimal gait planning in real time and control the dynamic walking efficiently.
