The Research And Design Of Control System Of Small Humanoid Robot

The small humanoid robotic which can stimulate the human interest and inspiration mostly, is more suitable to promote the popularity of robot technology and increasing research and development in the related disciplines since its unique advantages, such as:economy, humanoid shape, humanoid walking and other humanoid motion, and the functions of human interaction etc. This thesis mainly describes the design of a small humanoid robot prototype, especially focus on its control system, and finally realize the basic functions of the prototype:walking, pushing_up, kicking ball. The specific research works are shown as follows:1. Designed the small humanoid robot prototype. Defined the fundamental function of the prototype, and confirmed the configuration scheme of the 19 active degree of freedom of the prototype body, build the overall size model of prototype based on the SolidWorks software, and build the dynamic model based on the ADAMS software, and finally realize the offline gait planning of the prototype.2. Build the control system of the prototype which with the intelligence level, organization level, and execution level, in view of the hierarchical control of Artificial Intelligence,. The intelligence level employed the embedded control system of ARM11+LINUX, which in charge of sending servos control instructions, camera video capture, audio pronunciation control, A/D data collect and convert. The organization level used the 32 channels servo controller, which is responsible for receive the control instructions of intelligence level and control the servos on real-time. The execution level mainly included the servo driver, audio driver, ADC driver, camera driver, the peripheral circuit design of power supply transition, and the device of servo, potentiometer, camera, voice box.3. Developed the main program and the subprogram of the software control system of the prototype, in the light of the intelligent hardware control system. Include the write of the joints angle data A/D collect subprogram, increasement PID control subprogram of one-joint, USB to series communication subprogram, camera video identify subprogram, and the audio pronunciation subprogram.4. Realized the function of humanoid walking, pushing-up, kicking ball with the camera video capture, based on the prototype and its intelligent control system, and combined with the better gait and whole body motion plan and the abundant experiments.5. Set up the union simulation control system of virtual prototype, based on the interface between the Adams and Matlab. Propose a mathematical model of angle close control of single joint and a control model of the prototype, and do the simulation experiment of offline gait walking of the prototype, and finally complete the virtual humanoid robot prototype walking experiments.