Joint Motion Control System And Sensor System Design For Humanoid Robot

Humanoid robot is different from the general industrial robot, it use walking which is a more flexible way to move, and this way can be more adaptive on various of environment, and it is also more receptive to human, therefore, it has a more board application prospects than the wheeled or tracked robot. But for the walking control, its motion control requirements are higher, and it also needs the signal feedback by the sensor system, which is prerequisite to achieve the real-time and accurate motion control.In this paper, according to the structure of the small domestic humanoid robot in the laboratory, the distributed control system is designed to separate the joint control system and sensor systems from the main controller, and the subsystem can communicate through the CAN bus, this not only greatly reduces the burden of the main controller, but also improves the stability of the entire system.Next, the joint motion control system is researched and developed, this system is controlled by the central processor DSP, and with the related hardware circuit it can drive the joint motor to move, the control software is also developed, which based on the double PID control closed-loop algorithm, at last, the experiment testify the joint control system can handle the control of position and speed on joint motor.Then, the MIH-I robot's sensor system is developed, it uses press sensors and inclination sensors to get the information of foot press and joint angular, and the related software is designed to calculate the foot pressure distribution and the center of gravity of MIH-I, all the information can be send to the main controller by the CAN bus.As the part of the whole distributed control system on MIH-I, the joint motion control system and the sensor system constitute the motion control and information feedback of the entire control system. they are prerequisite for the humanoid robot to achieve the real-time motion control. At the end of this paper, the author summarizes the work he does, and illustrates the future work on MIH-I.