Sensors

This page explains about the sensors that are equipped with the robot. This robot is build for experiment of motion control. So the robot is only equipped with internal sensors.
[Joint angle sensor] [Touch sensor] [Inclination sensor] [Line sensor]

Joint angle sensor

Servomotors are equipped with potentiometer in the unit. I am planning to read the potentiometer with A/D converter to know the real position of the each joint. Information about load can be calculated from the offset value between ordered angle and the real angle.

Touch sensor

The robot has touch sensor in the tip of the legs. The micro switch is turned on when tip of the leg touch to the ground.

This picture shows back of the leg. A micro switch is equipped in the leg. Diameter of the tip rubber is smaller than leg structure. So sometimes this sensor dose not works.

Inclination sensor

Four mercury switches are attached to the body of the robot. The robot can know the direction of inclination. I think the function is not enough. I'm testing another gee sensor for the robot now.

This picture is a close-up of the body. These sensors are used when PC controls the robot with unknown terran feeling mode program.

Line sensor

The line sensor consists from IR LED and IR phototransistor. This sensor is used for the experiment of docking to maintenance stand. I planned this experiment for automatic battery charge program for later robot.

	The sensor unit is attached to the robot. The box under the robot is maintenance stand. The robot searches the line on the stand by moving the whole body and can know the direction and location with scanning two times.
	Top side of the sensor unit. The volume for adjusting the sensitivity and the red LED for line detection indicator is shown.
	Back side of the sensor unit. The IR LED and IR phototransistor is shown.