Design and signal processing of the legged robot foot tip pressure sensor

摘要

The sensor and the information processing technologies are the basis for intelligent robots. At present, pressure sensor is widely used in the robotics. In order to overcome the shortcomings of traditional pressure sensors, a novel legged robot foot tip pressure sensor based on FSR and embedded system is proposed. The sensing circuit, the A/D convector circuit and data transmission circuit and the digital filtering based on wavelet is studied. Experimental results demonstrate that the designed sensor and filtering algorithm have good linear relationship between the input and output, high resolution, quick response and strong anti-noises performances.