Design Of Control System Of Biped Robot On AVR Microcontroller

Biped robot, also known as the humanoid robot, is a humanoid robot. A highly modern intelligent biped robot has many features such as flexible rotation joints, complex control system, completing the difficult and accurate assignment. As an important branch in the field of robot, biped robot is always one of the hot spots, with very high commercial and military value. With the development of the science and technology, biped robot has been attracted more and more concern of the world and stand for the highest level of Mechatronics of science and technology.The control system, as the brain of the whole biped robot, plays a key role in steady operation of biped robots. To ensure the accurate and real-time control of mobile robot, the rational control strategy, the stable control system and the efficient microprocessor are necessary. According to the design requirement, the ATmega128is selected which is produced by ATMEL Company as the core of the control system. The biped robot has completed to move toward each direction, void obstructions and balance itself. And the movability and controllability are verified through the experiment. The main content of this paper are as follows:The present domestic and international research condition, and the background, research contents and the research significance of this thesis are introduced at the same time. Subsequently, a brief introduction about the system structure.The hardware circuit of biped robot control system is based on ATmegal28as the core control chip, the control system is divided into microcontroller module, the driver module of the servos and the sensors, the power module and so on. Every module is introduced and analyzed in detail. The microcontroller module mainly concerns on dealing with kinds of information and data and coordinating the functional modules to achieve the excepted tasks. The driver module is mainly responsible for the control of servos and the sensors to achieve the robot’s motion and the data acquisition from the sensors. The power module is in the charge of the power.On the hardware platform. According to the bionics, the data base is completed, and the optimal trajectory is calculated through the optimization algorithm. And the biped robot movement control program is designed and improved about the motion control accuracy.Through the debugging, the related experiments are made to test the function of the robot. The simulated result and practical performance both verify that the designed control system has good performance and meets the design requirements.