Fpga-based Humanoid Robot Control System

Robots are the crystallization of cross and merge of the subjects. The development of technology, such as computer technology, artificial intelligence, Materiality, network communication, also promotes the increasing development of robot technology. However, humanoid robot– the original dream of human, is the highest representative of robot developmental level and uses the most advanced technologies of various disciplines. Controller, as the part of its top priority is more so.At present, robot controllers always adopt SCM, ARM, DSP to come true, but there are some problems in the real application as below:First, the processor's external interfaces are very few, and in design more additional external components need to be added. Therefore, the volume continuously expands so that the reliability and stability of the control system is hard to be guaranteed; Second, after completion of the design, once the circuit has some changes, which means that integrated circuit need to be redesigned and wired, and the flexibility is worse; Third, once the products need upgrading, and may need to design a new circuit, which limits the market longevity of product; Fourth, the realization of SCM, ARM processor are soft-logic and the aspect of processing speed and delay is restricted.FPGA (Field Programmable gates Array) uses its multi-interfaces, logic circuit hardware programming and the upgrade of the chip site to realize its advantages. Nevertheless, because in the domestic at present, FPGA technology applies to the research and application of robot control, which is still in the primary stage, the design of this paper attempts to use the FPGA technology to realize a robot controller, plus rocker, keyboard, high-performance PC and wireless module and a set of complete wireless robot control system.The thesis mainly includes the following aspects:1. Elaborated the development situation and the future trends of the domestic and overseas robot and humanoid robot, and based on the shortage of controller of the commonly used robot, seeked to apply the FPGA technology to achieve a better performance of the control system.2. Introduced the robot structure in design, especially the structure and control method of the main part of the robot -steering enginesteering engine steering engine.3. Introduced and analyzed each module of humanoid robot control system, including hardware design and software design.Finally, a set of control system based on FPGA humanoid robot is accomplished. The result shows that this system is better to solve the problems mentioned above, and verifies that the proposed design scheme is feasible. The design result also shows the advantages and vitality of the FPGA technology in robot control field.