基于微机电惯性传感器的四足机器人姿态检测

摘要

提出了一种基于微机电惯性传感器的四足机器人姿态检测系统和方法,由加速度传感器和角速度传感器模块组成,经数据计算可获取静态姿态、动态加速度、静态欧拉角和动态欧拉角检测等.对加速度传感器和角速度传感器参数标定和信号调理,建立了四足机器人姿态检测模块的硬件系统.通过在四足机器人上进行了姿态检测模块的测试,表明该姿态检测系统能有效检测到四足机器人的关键姿态特征量,为四足机器人的姿态稳定性控制提供设备保障.%A gestures detection system and methods based on MEMS inertial sensor are put forward. The system consisited of a accelerator and a gyro. Through data calculation, static posture, dynamic acceleration, static Euler angles and dynamic Euler angles can be obtained, it described the parameter calibration and signal conditioning of the gyro and accelerometer, depicting the hardware and circuit of the posture detection module. Through the test of the module installed on the robot, it shows the key parameter of posture of the quadruped robot can be detected effectively and the modules provide the equipments guarantee for the pos-ture stability.