The Research And Realization Of Mini-Humanoid Robot's Control And Communication System

The application and research of humanoid robot are always the most active field in intelligent robotics. Humanoid robot system is composed of three parts, the control theory model algorithms, humanoid robot mechanism and the control computers (including hardware and software). In domestic, there are few researches on small humanoid robots with less than 800mm height To meet the demand of humanoid robots in this size, humanoid robot named MIH-I, which is on the goal of multifunctional, low cost and used in home environment, is developed. And its control theory models and algorithms are also proposed. To implement and verify the control theory models and algorithms, the corresponding computer engineering problem must be solved, which is this thesis focuses on.To improve the stability and real-time performance for humanoid robot, this thesis analyze previous motion control theory models and algorithms, divide the system into three parts that are main control layer, communication layer and actuating layer to realize. In this thesis, main control layer and communication layers systems are designed and implemented.The software of master control layer is the important part of...