Posture Detection of Quadruped Robot Based on MEMS Inertial Sensor

A gestures detection system and methods based on MEMS inertial sensor are put forward.The system consisited of a accelerator and a gyro.Through data calculation,static posture,dynamic acceleration,static Euler angles and dynamic Euler angles can be obtained.it described the parameter calibration and signal conditioning of the gyro and accelerometer,depicting the hardware and circuit of the posture detection module.Through the test of the module installed on the robot,it shows the key parameter of posture of the quadruped robot can be detected effectively and the modules provide the equipments guarantee for the posture stability.