Aiming at solving the problem of walking on the complex environment with obstacle on the research of bionic crab-liked robot with 24 degrees of freedom

a force detection and feedback system is designed.This sensor uses girder-liked strain gauge which is integrated with the leg and can transform the strain force to electric signal.After treated by amplifier and A/D convertor and real-time uncoupled and accounted by FPGA

the force signals of x

y and z are transported to host computer by 485 bus.With the force model about crab-liked robot’s leg touching obstacle built on the host computer

crab-liked robot can judge the general situation of obstacle.The experimental result indicates that this system has higher metrical precision up to 4.5% and the faster respense time of 50μs

can apperceive situation of obstacle effectively.