中文摘要：

针对二十四自由度仿生机器蟹研制过程中面临的蟹腿微型化问题，设计了变结构的蟹腿力觉传感器，该传感器与蟹足的腿节、胫节集成为一体。在蟹腿运动过程中传感器结构发生变化，为数据处理带来了困难，为此利用FPGA设计了高速高精度的CORDIC离散三角函数发生器，实时解耦、计算，并给出了仿真结果，确保了精度和实时性．该传感器安装在仿生机器蟹上，使机器蟹能够在复杂的环境中探知障碍物的方位，验证了该结构传感器的有效性．

英文摘要：

Data processing is difficult for the mini typed legs of a bionic crab-like robot with 24 degrees of freedom. This alterable structure changes with the robot＇s walking. In order to solve this problem, a structure-alterable force sensor was designed and integrated in the femora and tibia of the robot leg. The discrete trigonometric function＇s generator based on the CORDIC algorithm was designed in field programmable gate array （FPGA）. High speed and high precision of the generator was realized. By virtue of this generator＇s real time work in decoupling and accounting, along with its simulating result, precision and the real-time character are guaranteed. With these sensors mounted on, the crab-liked robot can detect the obstacle＇s orientation in complex circumstances, which demonstrates the validity of the sensors.