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Control System Bottom Design and Gait Planning of Humanoid Robot

Author: ChengNanRui
Tutor: LiuGuoDong
School: Jiangnan University
Course: Control Theory and Control Engineering
Keywords: Humanoid soccer robot Control system S3C2440A TMS320F2812 VIVI Embedded Linux Zero moment point (ZMP) Gait Planning
CLC: TP242
Type: Master's thesis
Year: 2009
Downloads: 189
Quote: 4
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Abstract


The humanoid robot soccer match is the recent rapid rise of a robot against the competition, the establishment of a humanoid soccer robot platform and participate in the activities to help promote the research in the embedded theoretical applications and artificial intelligence. This topic as a reference laboratory AFU robot to get better humanoid soccer robot game score design an improved humanoid soccer robot AFU2008 of. This paper focuses on three issues, the main work of the paper is as follows: first analysis of the design requirements of the RoboCup robot soccer game on humanoid robots, combined with the original the AFU robot's experience in the design of a new mechanical structure, and opted for a more for advanced drive components. Followed by a detailed analysis of the needs of the control system and selection of the main control structure from the way: the main control board selected Samsung S3C2440A processor to complete real-time visual information processing, the upper wireless network communication, decision-making and task planning tasks; movement control panel selected DSP lower task as the processor chip TMS320F2812, mainly to complete the acquisition and conversion of various sensor information, and control the operation of the steering gear, RS232 interface for communication between the main control board and the motion control board. And then design the specific circuit of the control system and its principle is analyzed in detail. Analysis and comparison of the advantages and disadvantages of several mainstream operating system, and ultimately select the most advantage of embedded Linux kernel version selected 2.6.13 as AFU2008 robot operating system. Then introduced the the BootLoader works, select VIVI as a control system to guide the program and then to establish a cross-compiler environment to complete the modification of the kernel and root file system and transplantation work completed modify and transplantation; Finally, start the Linux system, the necessary tests on the main control board's main function module. First established humanoid soccer robot kinematics model; then the zero moment point (ZMP) stability criterion reference cosine track the robot's gait planning and application of the inverse kinematics to solve this movement the trajectory of the robot joint angular value; angular data is then fed to the control system, the robot control calculated to the actual ZMP position, while using the pressure sensor of the robot foot, application compensation method based on the error between the actual ZMP expectations Online correction; Finally, the simulation and actual experiments proved the effectiveness of the method.

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot
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