The Research And Implement Of Control System For Humanoid Robot

Humanoid robot is an important branch of robot field.It integrated the technology of mechanical,electronic,communications and computers.With the rapid technology development of humanoid robot,humanoid robot soccer competition is more and more popular,which becomes an important stage of displaying and inspecting achievements in the field of humanoid robot.The control system is the core of humanoid robot.The design of overall structure of the system and the hardware and software subsystem decide the stability and reliability of the robot in the competition.First of all,according to the characteristics of humanoid robot and rules made by FIRA and Robocup,the requirement model is analyzed and established for the control system of humanoid robot.The hardware and software of control system are designed based on above analyses.The hardware design steps are taken as follow.First,two widely used schemes for servo control are discussed.The advantage and disadvantage of these two schemes were discussed.And a new servo control method was proposed,which successively overcome the shortcoming of the two basic control system.The main characteristic of our control method is that we use GPIO (General Input Output port) of MCU to simulately generate PWM signals to drive the servo motors, which are made up the joint of humanoid robot.Then we need to choose propriate hardware component to implement the control system.The hardware should be cost-effective,easy to buy, high performance low cost,low energy consumption and minimal size.The software design of the control system including Bootloader module,command interpretations module,command storage module and PWM signals output in the interrupt program.Secondly,according to the wireless communication requirement in the competition,hardware and software of wireless transmitting and receiving system are designed.The data is transmitted by USB communication between host computer(PC) and wireless transmitting module,which is convenient for competition.In order to make the robots receive the data synchronously, broadcasting-mode data transfer will be used between wireless transmitter and receiver.The No. and frequency of robots will be modified easily using the program of host computer,which enhanced the applicability in the match.The hardware and software system of remote control is designed.Finally,circuit boards of control system,wireless transmitter and receiver and remote control are accomplished.The stability and reliability are verified in the experiment and competition. Circuits are drawn by DXP 2004.The assembly language program are complied by AVR studio and C language program are complied by ADS 1.2 and ICCAVR.