Research Of Collaborative Control Of Multiple Biped Robots And Implementation Based On Hardware Platform

Research of cooperative control of multi-robots is a research focus in control field nowadays, but most researchers pay more attention to theoretical studies until now. The study and the application of the cooperative control of biped robots are related to control, communications, computers and many other research fields, thus they are very challengeable.In order to research and validate collaborative control methods of multiple robots, a hardware platform of collaborative network is structured. Zigbee-based wireless communication system is designed and Korean Hanback ROBONOVA-AI biped robots are used as collaborative network nodes. The main contributions of this thesis are as follows:1. Application of discrete system consistency control protocol on ROBONOVA biped robot hardware platform is studied, and an implementation method is given.2. Modification and debugging of basic movements programs is accomplished in Robobasic development environment. Cooperative control procedures are completed in Linux development environment.3. Consistency control methods and follow control methods of robots arm motion are researched and verified, the effectiveness of the control methods is demonstrated by the experimental results.4. Trajectory tracking of the multi-biped robots is studied based on event-driven mechanism, and a good tracking effect is testified by the designed experiment.