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Sensors 2017, 17(7), 1514; doi:10.3390/s17071514

A Force-Sensing System on Legs for Biomimetic Hexapod Robots Interacting with Unstructured Terrain

State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150080, China
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Received: 7 May 2017 / Revised: 14 June 2017 / Accepted: 22 June 2017 / Published: 27 June 2017
(This article belongs to the Section Physical Sensors)

Abstract

The tiger beetle can maintain its stability by controlling the interaction force between its legs and an unstructured terrain while it runs. The biomimetic hexapod robot mimics a tiger beetle, and a comprehensive force sensing system combined with certain algorithms can provide force information that can help the robot understand the unstructured terrain that it interacts with. This study introduces a complicated leg force sensing system for a hexapod robot that is the same for all six legs. First, the layout and configuration of sensing system are designed according to the structure and sizes of legs. Second, the joint toque sensors, 3-DOF foot-end force sensor and force information processing module are designed, and the force sensor performance parameters are tested by simulations and experiments. Moreover, a force sensing system is implemented within the robot control architecture. Finally, the experimental evaluation of the leg force sensor system on the hexapod robot is discussed and the performance of the leg force sensor system is verified. View Full-Text
Keywords: 3-DOF foot-end force sensor; biomimetic hexapod robot; force-sensing system; joint torque sensor; interactive force with terrain 3-DOF foot-end force sensor; biomimetic hexapod robot; force-sensing system; joint torque sensor; interactive force with terrain
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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MDPI and ACS Style

Zhang, H.; Wu, R.; Li, C.; Zang, X.; Zhang, X.; Jin, H.; Zhao, J. A Force-Sensing System on Legs for Biomimetic Hexapod Robots Interacting with Unstructured Terrain. Sensors 2017, 17, 1514.

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