The Design Of Humanoid Robot System Based On Dual Controller And ROS Platform

The humanoid machine is a kind of robot with highly intelligent information and has high industrial,commercial and military value.With the development of the industrialization process in the world,pure industrial robots have been unable to meet the needs of the market,and humanoid robots have also received the attention and attention of scientific institutions in various countries in the world.The humanoid robot has been researched for more than thirty years.During the humanoid robot's hardware system architecture,software upper layer design and physical structure have made great breakthroughs.At present,the key technologies of humanoid robots are mainly controlled by developed countries such as Japan,the United States,Germany,and the United Kingdom.Although domestic research has started late,it has developed rapidly and has also made great breakthroughs.However,the research of humanoid robots is mostly concentrated in universities and some research institutes.Most of the prototypes developed have complex control systems,high cost,low cutability,complicated actuators,and unwieldy humanoid robots,which are detrimental to companies entering the market.For this reason,this paper analyzes the existing problems and draws the humanoid robot system design proposal for this project.Different from the research robots at home and abroad,this topic aims at the technical requirements put forward by enterprises and designs a set of control programs that can be tailored for hardware and software.Finally,the high-performance PC104 embedded industrial control board and high-real-time STM32 series single-chip microcomputer were selected as the humanoid robot hardware control architecture,and based on this hardware architecture,the Ubuntu operating system was deployed and the ROS secondary operating system was deployed.The humanoid robot software environment provides a good environment for the subsequent running of complex algorithm tasks.Finally,in the Ubuntu and ROS software environment,the humanoid robot obtains the status information of the robot by collecting the installed sensor information,and provides a basis for the subsequent function development.The main contents of the paper are:The subject humanoid robot control system hardware takes PC104 plus STM32 as the core,and the main modules are: dual controller system,drive module,power supply module,and image acquisition module.The main contents of each section are: STM32 controller mainly collects and processes information and sends it to PC104.The driver module analyzes the current driver selection scheme.Considering the use of MX-28 T digital servo as a driving component The servo can also control the servo position output and monitor the status of the servo in real time.The power module is responsible for providing power to the entire humanoid robot system.In order to consider the convenience and rapid development,the image acquisition module selects the drive-free USB.The camera captures the image information around the humanoid robot and combines OpenCV to achieve non-specific face tracking.On the software system,humanoid robot software system uses Ubuntu system plus ROS secondary operating system.The paper elaborated the process of Ubuntu system transplanting on the PC104 and the deployment process of the ROS system.The object-oriented method was used to abstract the underlying hardware,the software framework of the humanoid robot was constructed,and the artificial robot's simulation model was also established on the ROS system.To provide a model for algorithm research.Finally,simulation analysis and experimental tests were carried out.The functional modules of the humanoid robot hardware and software system were operating normally.Servo as a drive component also met the design requirements.For this reason,the software and hardware system design scheme of humanoid robot dual control and ROS platform proposed in this paper has the characteristics of short design cycle,convenient development and maintenance,high hardware and software cutability,and high cost performance.It has practical application value and certain guiding significance for the humanoid robot software and hardware system design scheme.