Design and Implementation of High Efficiency Biped Robot System
This paper introduces the characteristics of the PADW-robot’s construction. PADW-Ⅱ robot has an upper body which uses bisector mechanism. This structure is proved more efficient than other types of upper body. The robot can be concluded to finite state machine modal. The control system hardware is designed with ARM7-based embedded exploitation board which embedded μC/ OS - Ⅱ real time operating system. The control system has a hierarchical structure to improve the reliability and immunity for the system. The algorithm is also designed based on the FSM modal. To implement the algorithm, we develop the software based on μC/ OS -Ⅱ real time operation system, by which several different tasks are created to fulfill the states control of the robot. Some experiments have been done and the energy efficiency contrasting to some robots is given. In accordance with the characteristic of the control the conception of Under-actuated system is advanced at last.
biped robot upper body FSM algorithm
Zhicheng Hou Hongshuai Chen Jianle Su Zhen Sui Xiangji Cui Yantao Tian
School of Communication Engineering Jilin University, Changchun, China Roll Forging Research Institute, Jilin University, Changchun China School of Communication Engineering Jilin University, Changchun, China Key Laboratory of Bionics Eng
国际会议
The 22nd China Control and Decision Conference(2010年中国控制与决策会议)
徐州
英文
2433-2438
2010-05-26（万方平台首次上网日期，不代表论文的发表时间）