A ZMP sensor for a biped robot

Abstract

A sensor attached to the sole of the foot of a biped robot to detect a zero moment point (ZMP) is proposed and basic experimental results are presented. The sensor simultaneously detects the center position of a two-dimensional distributed load on the surface of the sensor and the total load of the distribution. The sensor is sheet-like in form, lightweight (0.2 g/cm <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">2</sup> ), offers a high-speed response (within 1 ms), and needs a little wiring (four wires). In the present paper, the principle of the above-described sensor and its characteristics are described, and the ZMP locus is shown for a walking biped robot with the attached sensors