A six-dimensional force sensor decoupling method based on humanoid robots

By constructing static decoupling and compensation matrices to eliminate interdimensional cross-interference and dynamic interference of the six-dimensional force sensor of the humanoid robot, and combining recursive filtering technology, the problem of signal distortion of the six-dimensional force sensor is solved, realizing high-precision force signal decoupling and accurate recognition by the motion controller, thus improving the control performance of the humanoid robot.

CN122077633APending Publication Date: 2026-05-26SHENZHEN LIGENT SENSOR TECH CO LTD
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
SHENZHEN LIGENT SENSOR TECH CO LTD
Filing Date
2026-03-16
Publication Date
2026-05-26

AI Technical Summary

Technical Problem

The six-dimensional force sensor of the humanoid robot is subject to cross-interdimensional interference and dynamic interference when collecting three-dimensional force and three-dimensional torque signals, which leads to signal distortion and affects the motion controller's accurate identification of external forces and torques, thus failing to meet the requirements of high-precision motion control.

Method used

By constructing a static decoupling matrix to eliminate interdimensional cross-interference, and combining the kinematic model of the humanoid robot and the data from the inertial measurement unit, a compensation matrix is ​​generated and recursive filtering is performed on each channel to suppress high-frequency vibration noise and motion inertial coupling residuals, and output a high-precision decoupling force signal.

Benefits of technology

It achieves high-precision decoupling of force signals from humanoid robots, ensuring that the motion controller can accurately identify external forces and torques, improving the robot's high-precision control performance and adapting to the force perception requirements in complex motion scenarios.

✦ Generated by Eureka AI based on patent content.

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Abstract

This invention relates to the field of robot sensing technology, specifically to a six-dimensional force sensor decoupling method for humanoid robots. The invention deploys six-dimensional force sensors in the robot's joint drive unit and end effector to collect real-time raw signals of three-dimensional force and torque, as well as joint angles and body posture rotation matrices. A static decoupling matrix is ​​constructed using orthogonal load calibration and numerical fitting algorithms to eliminate inter-dimensional cross-interference and generate a primary decoupling signal. Based on the kinematic model, real-time joint angles, and posture matrices, a homogeneous transformation matrix is ​​calculated to generate a compensation matrix containing gravity projection and torque conversion terms, which is then fused to obtain a compensation force signal. The three-dimensional force components are subjected to adaptive amplitude limiting filtering using a sliding time window to suppress high-frequency noise, and the three-dimensional torque components are compensated for motion inertial coupling residuals through feedforward compensation. Finally, a high-precision target decoupling force signal is output, adapting to the high-precision control requirements of humanoid robots.
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