Control System Structure And Servocontrol Of Biped Robot

The study of biped robot is a multi-discipline synthetic science, which is constituted by mechanisms, materials science, computer technology, control technology, microelectronics, communication technology, sensor technology, artificial intelligence, mathematical modeling, the development of bionics and other related disciplines, which is the highest state of robotics.Under the effort of researchers,much progress has gained, The control technology, which determines the performance of robots, is one of the most important components in humanoid robot.In this paper we tried to study the design of control system and servo control, and give deep insights into the research of biped robot,which includes:1. This paper finished the general design of system control, implemented a distributed control scheme, to aim at the characteristics of the robot, sensor-driven structure, and detailed analysis of the control system's demands. The control system includes decision-making and motion control layer, decision-making is used to process image information and the current movement of the robot, acquired the next step of the robot's actions, and sent control commands to the motion control module through the data communication module. Motion control layer managed various motions, and adjusted online robot joint trajectory based on sensor information. Then the paper introduced the specific design of the control system.2. This thesis designed the main circuits of the control system, including of decision-making board and motion control board. Decision-making board was constructed by PDA which was based on S3C2440A processor. Then we discussed the structure of motion control system. The main circuits of the Control system hardware are analyzed and designed in detail, which includes power supply circuit, clock, and JTAG interface circuit, the PC communications interface circuits, memory interface circuit, sensors interface circuit, servo communication interface circuit. Finally the application development framework of decision-making board and motion control board are analyzed and designed based on hardware.3. This thesis proposed a servo control method when the biped robot was walking. As the robot model errors, the impact of actual environmental and other factors, it may cause instability of the robot walking. It requires a servo controller, which can modify walking pattern by using of attitude sensors, force sensors and other devices. This thesis introduced a method for whole-body motion modification. The errors of Center of Mass(CoM) could be required by use of force sensors, in order to reduce the errors, we adopted the compensation of CoM to correct joints gait online. This method could reduce the robot's ZMP errors. The biped walking robot proved the effectiveness of the method.