ForceFootBFC

ForceFootBFC is an STM32-based embedded force sensing system developed for humanoid soccer robot applications.

This project focuses on:

• Loadcell data acquisition
• Real-time force sensing
• Center of Pressure (COP) calculation
• Embedded slave communication
• Robot balance monitoring

The system is designed using STM32 microcontrollers and multiple loadcell sensors to support humanoid robot foot pressure analysis and stability control.

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Features

• Multi-loadcell sensor reading
• Real-time force monitoring
• COP (Center of Pressure) calculation
• Sensor filtering and stabilization
• UART slave communication
• STM32 embedded implementation
• Real-time data processing

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Hardware Specifications

• STM32F401CC
• HX711 Loadcell Amplifier
• Multiple Loadcell Sensors
• UART Communication Interface
• Humanoid Robot Foot Platform

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Software & Tools

• STM32CubeIDE
• STM32 HAL Driver
• C Programming Language
• GitHub Desktop

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System Architecture

Loadcell Sensors
        ↓
HX711 Amplifier
        ↓
STM32F401CC
        ↓
Filtering & COP Calculation
        ↓
UART Communication
        ↓
Master Controller

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Main Functions

Loadcell Reading

Reads force values from multiple loadcell sensors through HX711 modules.

Sensor Filtering

Reduces sensor noise and stabilizes force measurements.

COP Calculation

Calculates Center of Pressure based on load distribution from multiple sensors.

UART Communication

Transfers processed sensor data from STM32 slave device to the master controller.

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Future Development

• ROS2 integration
• Real-time visualization system
• Advanced balancing algorithm

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Notes

This project is intended for embedded systems and humanoid robotics research purposes.

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Author

Developed by Juita Sari