Humanoid Robot Underlying Controller Design And Motion Debugging

In this paper the design idea and realization of the humanoid robot of new generation are presented in detail as well as the solution that basic controller is miniaturized, modular designed and of high speed. The organization load and assemblage space are both decreased, and controllers and organizations in control can be connected conveniently. Thus, cable-free walking is enabled through the complete machine-carrying of the control system and the power.In this paper, firstly, introduction of the developing status and trend of the humanoid robot are presented. Then, general introduction of the distributed control system architecture is given, including the design idea of the basic motion controller. According to the special request for the humanoid robot, we put forward a solution based on the TMS320F206 chip and the standard of PC 104 bus.While, in the paper the designing methods for software as well as hardware according to controller together with the correspondent details in circuit realization are described on emphasis, including detailed explanation on design background, realization theory and chip selection. Also, the control algorithm has been researched and the project realization of digital PID control algorithm is proposed.In the end, it is narrated illustration of the pontes between power and electric parts that conduce to cable-free walking, as well as the overall designing process of the software used in the master computer in integrative experimentation. The results of simulation and the experiments are provided, based on which analysis of the data is presented. And it is concluded that some experiences and methods is used in experiments according to the control system and the humanoid robot.