Research On The Locomotion Control Of Guitar-Playing Robot

Guitar-playing robot, with the characteristics of human, belongs to a kind of entertainment robots. It can not only play simple notes, move slowly, bend over for salute and wave hello, but also be controlled with a wireless remote game console. Under the control of the remote control system, it can perform on such actions well according to the expectations of the players. The robot brings infinite fun to our human beings.Based on the building the system of a guitar-playing robot, a study of the robot’s locomotion control was presented in this paper. Two-wheel mode and biped moving functions were selected as the robot moving ways in many cases, and the two projects were studied by us respectively.When we built the robot system, the worm and worm wheel, synchronous belt and gear drive for active joints were designed for the mechanical part. Some different types of DC motor were selected for the driving source according to the calculation results of the driving torque of each joint. As for the electronic control part, the red bull development board was employed as the master controller, on which STM32F103ZET6produced by ST microelectronics was designed as the core chip. The functions of the controller included sensors’signal collection and generation and transmission of the robotic system’s control signal. The system carried MTi navigation attitude measurement system, photoelectric encoder, photoelectric sensors and the wireless remote module. SPI bus and RS232bus were adopted as the communication components. DC motor was driven by BDMC36xx series DC motor servo driver based on16-bit DSP. Device driver of STM32F103ZET6, such as GPIO, USART, key interrupt, timer interrupt, SPI and RS232, were programmed. At last, the walking control program of the robot was given in the paper.The way of two-wheel moving was alternative project for the robot, and a dynamic model of it was built based on Lagrange method. The virtual machine and some control varieties were designed based on ADAMS, which provided a basis for the simulation of the robot move. Biped walking mode played the key role to the guitar-playing robot. First of all, we designed the physical prototype robot that was suited for the research of biped walking and then a virtual prototype was designed based on ADAMS, whose control program was set according to the data of the human walking gait. The motion simulation of the virtual prototype was realized in the end. On the basis of those, a dynamic model was built based on Lagrange method. Two results of the torque about the key joint (left ankle2nd) were compared. The two curves showed that the dynamic modeling was consistent with the human walking, which provided a reference for the further study.