Abstract
Quadruped Robot is a complicated system with many joints and spare parts, a slight loosening could cause a violent shaking of the robot to affect the movement form or execution accuracy. But still now, few robots have a self-detection system to realize the fault diagnosis and monitoring. This paper provides A detection method for joints' looseness of quadruped robot 's leg which is made up of eight displacement sensors on legs of Quadruped Robot. Each of them undertakes the task of testing and transferring displacement information of joints on robot. And stm32 is used as the data processing module with a signal amplification circuit before it. In order to simplify simulation process, we take three joints in right foreleg as simulation objects. The simulation results show that the system built in this paper is feasible.
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