Design of a 23-DOF small humanoid robot with ZMP force sensors

Abstract

This paper presents a design of a 23-DOF small humanoid robot with force sensors for zero moment point (ZMP) measurement. Piezoresistive strain gauges are used under the feet of the robot to measure ground reaction force which is used to locate ZMP under the robot foot support area. The robot also uses gyroscope and acceleration sensor for motion control.The robot developed is capable of all directional walking, running and performing different kung fu like actions.Design specifications, joints distribution, walking planning of the robot, ZMP measurement scheme and vibration control using gyro sensor are discussed in this paper. © 2011 Springer-Verlag.