Detecting Centroid for a Quadruped Robot with Hand-Fused Foot Based on ARM

Because weight is unsymmetrical for the robot with hand-fused foot, a method is found to calculate the centroid coordinate from the perspective of Newtonian mechanics. Centroid coordinate of the robot is detected using ARM, pressure sensors, distance measuring sensors, and multiplexer. Software is designed for the centroid detection from 3 aspects as multiplexer chip selection, A/D conversion operations, and centroid calculation. Centroid projection detection has certain reference value for gait generation and path planning.