Abstract
This paper proposed a soccer robots attitude detection method based on the principle and vibration mode of cymbal piezoelectric composite transducer. Cymbal piezoelectric composite transducers and MEMS-based three-axis low-g sensor were set on some different support points of soccer robot's joint to accomplish attitude detection. The signal processing circuit and algorithm software were designed. The research results showed that the performance parameters of the soccer robot falling down attitude detection system based on cymbal piezoelectric composite transducer are better than the other sensor, such as the sensitivity, correct, undetected fall and stability duration, etc. The experiment results showed that the detection accuracy for falling down of the soccer robot can be 98% and the stability duration can be 60 minutes.
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