Signal Processing and Application of Six-axis ForceTorque

	Signal Processing and Application of Six-axis ForceTorque
	Baoyuan Wu, Qingquan Yan, Jianfei Luo, Zhongcheng Wu
	2013-06-08
发表期刊	Journal of Signal Processing Systems
摘要	Six-axis force/torque sensor (F/T sensor) that can detect three orthogonal forces and torques has been extensively adopted in humanoid robot foot for stable control. Due to the F/T sensors being seriously influenced by the electromagnetic interference from ankle generator, signal stability of F/Tsensor is still one of the main influencing factors for accurately dynamical and stable control. Though the problem with influencing electromagnetic noise can be solved generally and partially by shielding of the sensor and wires, this traditional method will to some extend face implementation difficulty induced by special mounting space and application environment especially in humanoid robot ankle. Therefore, the research on the output signal stability and precision of the F/T sensors has still been one of the most essential subjects for humanoid robot dynamic equilibrium control. In this paper, some various signal processing methods have been adopted and analyzed comparatively with the aim at the output signal anti-interference processing of F/T sensors. And the filtering effect and its feasibility were verified experimentally in the dynamic walking motion of humanoid robot platform BHR-2.
语种	英语
文献类型	期刊论文
条目标识符	http://ir.hfcas.ac.cn:8080/handle/334002/12795
专题	中科院合肥智能机械研究所
推荐引用方式 GB/T 7714	Baoyuan Wu, Qingquan Yan, Jianfei Luo, Zhongcheng Wu. Signal Processing and Application of Six-axis ForceTorque[J]. Journal of Signal Processing Systems,2013(2):263-271.
APA	Baoyuan Wu, Qingquan Yan, Jianfei Luo, Zhongcheng Wu.(2013).Signal Processing and Application of Six-axis ForceTorque.Journal of Signal Processing Systems(2),263-271.
MLA	Baoyuan Wu, Qingquan Yan, Jianfei Luo, Zhongcheng Wu."Signal Processing and Application of Six-axis ForceTorque".Journal of Signal Processing Systems .2(2013):263-271.

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