Ultrasonic Sensor Triangulation for Accurate 3D Relative Positioning of Humanoid Robot Feet


A simple measurement system with a group of six ultrasonic piezoelectric transducers is presented for direct 3D positioning of humanoid robot limbs. A configuration with 3 emitters and three receivers ends up in millimetric estimation of the distances. Millimetric resolution achievement over seventy cm vary is aimed with high angular tolerance so as to mount the sensor on a humanoid robot. Sampling frequency up to sixty Hz is obtained. The sensor is then used to estimate relative positions and orientations in the space of every foot of the robot regarding the pelvis. The principle and experimental performances of the sensor are presented in the primary half with uncertainty estimations and discussions. In the second section, the sensor has been setup on the ROBIAN humanoid robot to illustrate an application case and check the performances.

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