A ZMP measurement system of humanoid robot with sensor array based on contact force information of the foot is presented

to solve the problem of contact force information which is not sensed comprehensively for the force/torque sensor of the present ZMP measurement system hasn’t been set to touch the ground directly.The multi-stage amplification of the sensor signals is introduced.The hardware and software system for information collecting are presented.The communication with external MCU via CAN bus is realized.The designed system has been used in actual humanoid robot.The results of walking experiment indicate that the actual ZMP can be measured and the contact force information at different parts of the foot with the ground can be collected

computed and transmitted on-line effectively via the ZMP measurement system which is simple to be realized.