Design And Implementation Of A Humanoid Robot Control System

Humanoid robot is a hot area of research, which is a combination of computer science. electronics, communications, control science, sensors and other technologies. It represents the highest achievement in mechanical and electrical integration. From the robot’s development trend, humanoid robot. which is closely related to human, is playing more and more important role in various fields. As the embryo of robot, humanoid robot has provided not only an ideal experimental environment in robotics, control theories, electromechanical integration and many other correlative disciplines but also quotable experiences for further.In this paper, according to the humanoid robot’s requirements of control structure and control performance and the need of my laboratory research, we design and implement a kind of distributed control system of humanoid robot based on ARM9and DSP. The control system uses two layers of upper and lower computer, which connect and communicate through a CAN bus.First of all, this thesis makes a brief introduction of the domestic and foreign development of humanoid robot other than the trend of its basic technologies, and points out that the main contents of this article.Secondly, the paper describes the body structure of a humanoid robot model, walking stability analysis and gait planning method.Thirdly, it introcduces the overall hardware platforms of robot contol system as well as the design and implementation of upper computer, and then ralization of the stable walking robot by taking gait debugging.Finally, it makes a summary about the design of humanoid robot control system and points out that the effectiveness of the design and looks to the future. Puts forward measures to improve...