NAQ仿人机器人传感器 上游究通大学 Joint actuators/sensors ·Joints actuator ·Position from the MRE Angle value in radians Angle in radians -Be careful with fast moves- 12 bits precision (ie less than 0.1). absolute,low noise On leg motors and all joints ·Stiffness(Hardness) Electric current (in A) From 0(electromagnetic break)to 1 (current limit to maximum) Without sign Set it before moving the joint Security limitation Can be changed very fast. You can use it as a power information There is no need for full hardness all the time ·Temperature(in。C) Simulation based on current Security limitation 仿人机器人创新实践Innovation and Practice for Humanoid Robot ctleng@sjtu.edu.cn
NAQ仿人机器人传感器 上游究通大学 Sensor:Inertial board 3-axis accelerometer (give accel in m/s2) Direct accelerometer output(8 bits,+-2G) Returns the acceleration vector,but also other accelerations 2-axis gyrometer(give rotation speed rad/s) Direct values Need to be converted in angular speed (rad/s) “Zero”issue 2 computed inclination angles Computed with a custom onboard algorithm Values in radians 仿人机器人创新实践Innovation and Practice for Humanoid Robot ctleng@sjtu.edu.cn
NAQ仿人机器人传感器 上游充通大学 Sensors:FSRs 4 *2 FSRs Weight on each LFsrFR RFsrFL RFsrFR sensors The value is Left foot Right foot calibsiide.psand directly in Kg Total weight on the foot Position of the center of pressure on each foot RFsrBL RFsrBR 仿人机器人创新实践Innovation and Practice for Humanoid Robot ctleng@sjtu.edu.cn