Sensing system on foot in micro biped climbing robot

Cupule firmly adsorbed is the foundation in the movement of the climbing robot.The sensing system on foot in micro biped climbing robot is designed,ADuC842 is used to control and gather information from infrared sensor array,curvature fiber-optic sensor,air pressure sensor,accelerometer,and transmit the information to the main controller DSP via UART after processing.Finally self-adaptive adjusting and firmly adsorbing of the cupule are realized,and gradient of the adsorb plane is obtained.