用无线压力传感提升人形机器人平衡能力，跳舞时更稳。
Wireless Center of Pressure Feedback System for Humanoid Robot Balance Control using ESP32-C3
- 用ESP32-C3和四组力传感器无线采集足底压力中心数据
- 在3度斜坡上单腿站立成功率100%，误差仅14.8克
- 适合高自由度舞蹈机器人，不拖累关节灵活性
保持单支撑阶段的稳定性是人形机器人，特别是需要复杂动作与高机械自由度的舞蹈机器人的核心挑战。传统有线传感器配置常限制关节运动并引入机械噪声。本研究提出一种无线嵌入式平衡系统，用于在不平地面上维持稳定。系统采用自定义足部单元，集成四个力传感器与ESP32-C3微控制器，实时估算足底压力中心（CoP），并通过无线方式将数据传至主控器，以降低29自由度的VI-ROSE人形机器人布线复杂度。基于CoP反馈，采用PID控制策略调节躯干、髋关节和踝关节的滚转运动。实验表征显示传感器精度高，平均测量误差为14.8克。在优化后的PID参数（Kp=0.10, Kd=0.005）下，系统在3度倾角的单腿抬起任务中实现100%平衡成功率。结果验证了无线CoP反馈在增强人形机器人姿态稳定性方面的有效性，同时未影响其机械灵活性。
原文摘要 · Abstract (English)
Maintaining stability during the single-support phase is a fundamental challenge in humanoid robotics, particularly in dance robots that require complex maneuvers and high mechanical freedom. Traditional tethered sensor configurations often restrict joint movement and introduce mechanical noises. This study proposes a wireless embedded balance system designed to maintain stability on uneven surfaces. The system utilizes a custom-designed foot unit integrated with four load cells and an ESP32-C3 microcontroller to estimate the Center of Pressure (CoP) in real time. The CoP data were transmitted wirelessly to the main controller to minimize the wiring complexity of the 29-DoF VI-ROSE humanoid robot. A PID control strategy is implemented to adjust the torso, hip, and ankle roll joints based on CoP feedback. Experimental characterization demonstrated high sensor precision with an average measurement error of 14.8 g. Furthermore, the proposed control system achieved a 100% success rate in maintaining balance during single-leg lifting tasks at a 3-degree inclination with optimized PID parameters (Kp=0.10, Kd=0.005). These results validate the efficacy of wireless CoP feedback in enhancing the postural stability of humanoid robots, without compromising their mechanical flexibility.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。