Task-oriented Control System And Programming Method For Educational Humanoid Robot

Educational humanoid robot is a kind of humanoid robot which is applied in the field of education, which different from common humanoid robot is openness and modular features, users can easily change the hardware configuration, software function to achieve different tasks. Therefore, getting some open programming method, providing friendly controller and programming environment, achieving different levels of independent innovation based on the user's different levels of education, is the development direction of educational humanoid robot.Currently, the educational humanoid robot programming method can be divided into: process oriented and object oriented, according to the different implementation steps. Most of the current educational humanoid robots are based on text or graphic process oriented programming method, and the process oriented graphical programming method is still belong to the process oriented process programming, programming difficulty is increasing with the increasing of the task complexity and environmental factors affecting, limiting the technical groups which humanoid robot can be utilized. While educational humanoid robot has not the object oriented programming method, Object oriented programming method is high degree of open and modular, especially in education field. And process oriented programming is intuitive, easy to understand, and simple in interaction, which is more suitable for uncertain programming environment.In view of the above problems, this paper designs a task oriented graphical programming method for educational humanoid robot. The method is based on the behavioral response, using the finite state machine to implement the task layer and behavior layer coordination mechanism, build a complete control system and programming environment. Control system based on ARM processor and embedded Linux operating system, which using the core board and expansion board structure, realization motion control, alleviate the pressure the central processor of the control system, and has a good scalability. A task oriented programming mode, allowing the user to concentrate on the relationship among tasks in each state, behavior modules and module logical, which is more suitable for uncertain environmental programming, and can improve the reusability of the programming results. Its open and modular features providing a simple, open programming method and control system for the research on the related disciplines.