四足步行机器人倾斜度传感器的研究

为了克服步行机器人原采用的摆型倾斜度传感器频响较慢的缺点，研制了一种采用圆球－应变片组合的新型倾斜度传感器，通过测量下滑力获得倾斜度的信息．由于提高了倾斜度传感部件的重心，并直接用紧贴应变片的弹性档极与之相切，避免了该部件与机器人接触面间的相对运动，从而显著提高了频响速度．文中对这种传感器的具体结构、信号处理方法与实验结果作了详细的介绍．

Study on the Slant-Degree Sensor for a Quadruped Walking Robot

in order to improve the response characteristics of the pendulum type of slant-degree sensor used in the walking robot,a novel slant-degree sensor is proposed,which combines a globe with strain gauges and obtains the slant information by measuring the slidingdown force. Because of the higher center of gravity and no relative movement among the components,the response characteristics are greatly improved. The structure of the sensor and the signal processing technique are described. The experimental results are given.