Study On Communication System Of Biped Humanoid Robot Multi-controllers

Humanoid robot has been a hot research field of robots, represent the highest achievements of mechatronics. Robot's communication system is the basis of robot, with the rapid development of humanoid robots, the robot's mobility, flexibility has become increasingly demanding, so the research has important practical significance. Article aims to research the communications among the controllers in a single human robot and how to ensure the coordination and coherence of joints.Firstly, this paper analyzes in details on structural features of humanoid robot and the multi-controller of humanoid robot is equivalent to multi-agent systems, discusses in detail the multi-agent system communication model and communication. A C/S model of multi-controller communication system is proposed based on CAN bus as well as analysis of this system's components and communication requirements, and highlight real-time problems about CAN bus, which analyzes the advantages and disadvantages of static priority algorithm and dynamic priority algorithm. According to the communication characters of humanoid robot and CAN bus protocol, it is better to use mix-algorithm, which is basic CAN protocol is based on a fixed priority algorithm combines two methods of priority algorithm. Improve real-time of CAN bus communication system, and lay the theoretical foundation on the follow-up simulation work.Second, use finite state machine theory, set up a multi-controller CAN bus communication protocol simulation model about humanoid robot in Simulink/Stateflow environment including the bus model, node model and arbitration function. And create different different simulation models of scheduling algorithms. Adjust the node's transmission period, access to different network load and verify the feasibility of the mix scheduling algorithm by comparing the send success rate, then get the successful rate about CAN network transmission.Final, the hardware test platform composed by four CAN bus communication nodes, including the control, transceiver and CAN switch to USB port part. In software design, the sending and receiving program had been completed, the mix scheduling algorithm is applied to the hardware test system, analysis the send load success rate of different network nodes with using different scheduling algorithms, further prove the validity of the theoretical study. Verified based on the CAN bus communication system has good reliability and real-time, suffice communication requirements of humanoid robot multi-controller...