Study On The Configuration And The Control System About Head Of Humanoid Robot

The creation of humanoid robot is the result of mankind's incessant exploration into the mysteries of itself. Study on humanoid robots does not only help mankind realize their self-ego, more importantly, it adds to the development of science and technology.The configuration, hearing of and control over the head of humanoid robot are studied in This Thesis, In general, several methods for configuration of the head of humanoid robot are reviewed in This Thesis, and the scheme of a 3-DOF neck and 1-DOF jaw is decided based on the background of our research.Comparatively simple universal joints are used for realizing movements needed. Processing drawings are produced in accordance with the scheme of configuration. Assembly and debugging are conducted. For acoustic positioning, computer sound card and ECM electret condenser microphone are adopted for acoustic signal receiving, and DirectSound is used for relevant analysis of the two signals and positioning their sources. Corresponding softwares have been programmed and certain results are obtained through sufficient experiments. Servo motor and multi-axis control card are adopted for the control of the head of humanoid robot. Parameters needed for PID control are confirmed. Control procedures are programmed under VC environment and sufficient experiments are conducted to coordinate the precision and accuracy of the feedback path and command path. Precision control over the motor under visual interface is realized.