Multisensor automatic balancing model for darwin-OP on uneven terrain

The walking of a humanoid robot needs to be robust enough in order to maintain balance in a dynamic environment especially on uneven terrain. A walking model based on multi-sensor is proposed for a Robotis DARwIn-OP robot named as Leman. Two force sensitive resistor (FSRs) on both feet equipped to Leman to estimate the zero moment point (ZMP) alongside with accelerometer and gyrosensor embedded in the body for body state estimation. The results show that the FSRs can successfully detect the unbalanced walking event if the protuberance exists on the floor surface and the accelerometer and gyrosensor (Inertial Measurement Unit, IMU) data are recorded to tune the balancing parameter in the model.