Intelligent Control And Programming Realization Of The Coordinated Motion On Humanoid Robot

Since the concept of humanoid robot has been proposed,it has been gradually becoming one of heated topics in the robot field.With the constant development of global technology,the technology of robot plays an important role in various fields,especially all kinds of military robots.Because it has the character of imitating people's structural style and movement method,it can represent people to work such as detecting operating blasting and disguising and so on under the condition of unstructured terrain and awful environment.In recent years,the humanoid robot which is applied to military affairs is the research hotspot around the world.The humanoid robot's key technology is the intelligent control of its coordinated operation.This paper takes a small humanoid robot with 19 degrees of freedom as a research object and makes a study about the issue of multiple degree of freedom coordinated control.And eventually,it makes a great success.This paper has introduced the system of humanoid robot orderly,from the bottom to the upper,for the purpose of completing the task.It takes a small humanoid robot with 19 degrees of freedom as a research object,doing the relative research tasks.Besides.it has finished the design of structure,system hardware,system software,coordinated motion control algorithm and physical prototype experiment.Finally.it verifies the controlling means and controlling effect by physical prototype of 19 degree of freedom humanoid robot.The structure design has three steps,degree of freedom design,structural model design and joint dimension design.It verifies the robot”s structural stability and reliability by imitating human body mechanism to design,optimize and improve,and make the solid prototype.Control system hardware regards the core of ARM Cortex-m3(STM32F103C8T6)as core control chip.It takes triaxial accelerometer and three axis gyroscope MEMS sensor,namely MPU6050 as system nucleus,concentrating communication,servo motor drive and power management in whole body.Control system software uses the designing means of hierarchical design to design.The software system has divided four parts:execution layer,application layer,algorithm layer and driver layer from up to down.Every layer does tasks separately according to priority,realizing the functions of robot's behavior management,coordinated motion control algorithm,servo motor synchronous control and external debug interface.About coordinated motion control method,the system of algorithm layer coalesces information and calculates interpolation data by using attitude algorithm,ZMP stability estimation algorithm and adaptive coordinated motion control algorithm to transit initial data.Finally.it realizes the robot's coordinated motion by taking advantaging of amending the action parameter of robot.According to the verification of the physical prototype's experiment,the humanoid robot which has the system of coordinated motion control can feel the change of environment during the whole process of motion.What's more.it can assure its stability and harmony by adjusting itself to adapt to the changing environment.This paper's experiment of humanoid can up to the excepted effect in cooperated motion of intelligent control and programming aspect.It can afford the reference for the following research of humanoid robot's controlling means.