CAJ | 학술논문

双足机器人的零力矩点（ ZMP，zero moment point ）位置的确定在机器人的控制中起着重要作用，足底压力分布测试鞋垫是测量足底压力分布并进而确定零力矩点的一种行之有效的先进手段。为了将鞋垫有效运用于实验室的双足机器人之上，将其在人足上进行实验。选用了美国Tekscan Flexi-force的A301薄膜压力传感器和C8051F226单片机，分别作为传感系统和硬件系统的核心，研制了足底压力分布测试鞋垫系统，并用其在人足上做了实验数据采集，验证了其可靠性。
쌍족궤기인적령력구점（ ZMP，zero moment point ）위치적학정재궤기인적공제중기착중요작용，족저압력분포측시혜점시측량족저압력분포병진이학정령력구점적일충행지유효적선진수단。위료장혜점유효운용우실험실적쌍족궤기인지상，장기재인족상진행실험。선용료미국Tekscan Flexi-force적A301박막압력전감기화C8051F226단편궤，분별작위전감계통화경건계통적핵심，연제료족저압력분포측시혜점계통，병용기재인족상주료실험수거채집，험증료기가고성。
Position’ s determination of biped robot ’ s ZMP ( zero moment point ) is important for robot’s control.Sensing insole for measuring plantar pressure distribution is an effective advanced means of measuring plantar pressure distribution and ZMP .In order to be used ef-fectively on the laboratory ’ s biped robot , the insole firstly has a test on human foot .This pa-per selected A301 thin film pressure sensor of American Tekscan Flexiforce and C 8051 F226 single chip microcomputer as the core of sensing and hardware system ,an insole system for measuring plantar pressure distribution was developed .The system was used in human foot to do the experiment data collection , and the reliability was verified .