Research Of Humanoid Robot Key Technology In Motion Control

The research and application of robot is continuously developed. Especially, humanoid robot is becoming hotter and hotter in the field of intelligent robot. It is one of human's dreams to make a humanoid robot, which has the similar features, like human and the human's intelligences and agilities, and to make it communicate with people and adapt circumstance. Some results are summarized as following:(1)A hardware platform using PC and PIC single chip is designed. The research uses PIC MCU to control the robot's every sub-system including multi-servo control, perceptive system design. Through using these technologies, the research realizes remote control to the robot, which can simulate human's behaviors and interact between human and robot.(2)In the field of humanoid robot's multi-joint harmonization motion control, multi-joint control model to control robot's hand made by multi-servo is studied. And through program, the robot simulates human's behaviors smoothly and neatly is realized.(3)In addition, on the problem of humanoid robot's movement, this research advances a new idea to realize the movement control through two coaxial independent driving wheels. It makes the movement control simply and enhances robot's self-movement ability with this new idea which makes the path out with anyone of the two wheels as the centre of a circle which also is regarded as reference.The new ideas advanced by the document have been realized on the real humanoid robot.