Design and Implementation of High Efficiency Biped Robot System

被引：3
|
作者：
Hou, Zhicheng [1 ]
Chen, Hongshuai [1 ]
Su, Jianle [1 ]
Sui, Zhen [1 ]
Cui, Xiangji [3 ]
Tian, Yantao [1 ,2 ]
机构：
[1] Jilin Univ, Sch Commun Engn, Changchun 130023, Peoples R China
[2] Minist Educ China, Key Lab Bion Engn, Changchun, Peoples R China
[3] Jilin Univ, Roll Forging Res Inst, Changchun, Peoples R China
来源：
2010 CHINESE CONTROL AND DECISION CONFERENCE, VOLS 1-5 | 2010年
关键词：
biped robot; upper body; FSM; algorithm;
D O I：
10.1109/CCDC.2010.5498809
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper introduces the characteristics of the PADW-II 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 mu C / 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 mu C / 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.
引用
收藏
页码：2433 / +
页数：2
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