公开(公告)号：KR100864607B1

公开(公告)日：2008-10-22

申请号：KR1020070053080

申请日：2007-05-31

Applicant: 한국과학기술원

Inventor： 오준호 ,  이정호 ,  박일우 ,  김정엽

IPC: B25J13/08 ,  B25J13/00

Abstract: An apparatus and a method for measuring inertia by using a slope sensor and an angular velocity sensor for a humanoid biped walking robot are provided to facilitate expansion of a system by minimizing an additional interconnection through using controller area network communication. An apparatus(100) for measuring inertia by using a slope sensor and an angular velocity sensor for a humanoid biped walking robot comprises a slope sensor(120) and angular velocity sensors(130,131). The slope sensor measures a slope of a robot relative to the gravity. The angular velocity sensors measure angular velocity of the robot relative to the gravity. A complementary filter receives and filters the slope and angular velocity signals measured in realtime by the slope and angular velocity sensors. A digital signal processor is connected to the complementary filter to perform A/D conversion relative to the slope and angular velocity signals.

Abstract translation: 提供了一种用于通过使用用于人形二足动作机器人的斜率传感器和角速度传感器来测量惯性的装置和方法，以通过使用控制器区域网络通信最小化附加互连来促进系统的扩展。 用于通过使用倾斜传感器和人形二足步行机器人的角速度传感器来测量惯性的装置（100）包括倾斜传感器（120）和角速度传感器（130,131）。 斜率传感器测量机器人相对于重力的斜率。 角速度传感器测量机器人相对于重力的角速度。 互补滤波器接收并过滤由斜率和角速度传感器实时测量的斜率和角速度信号。 数字信号处理器连接到互补滤波器，以相对于斜率和角速度信号执行A / D转换。