A ZMP measurement system of humanoid robot with sensor array based on contact force information of the foot is presented,to solve the problem of contact force information which is not sensed comprehensively for the force/torque sensor of the present ZMP measurement system hasn' t been set to touch the ground directly. The multi-stage amplification of the sensor signals is introduced. The hardware and software system for information collecting are presented- The communication with external MCU via CAN bus is realized. The designed system has been used in actual humanoid robot. The results of walking experiment indicate that the actual ZMP can be measured and the contact force information at different parts of the foot with the ground can be collected,computed and transmitted on-line effectively via the ZMP measurement system which is simple to be realized.%针对现有仿人机器人零力矩点(ZMP)测量系统的力/力矩传感器不直接触地导致不能充分反映脚底各部位受力的问题,设计了一种基于地面接触力信息的具有传感器阵列的ZMP测量系统.介绍了传感器信号多级放大、采集及处理的软硬件系统,应用CAN总线接口实现了与外部上位机的通信.所设计的系统已应用于实际仿人机器人.步行实验表明:该系统能有效完成步行中ZMP的实时测量和脚底各部位受力信息的实时采集、计算与通信,简单易实现.
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