Motion controller for modular embedded polypod robot

A robot motion and controller technology, applied in the field of robots, can solve problems such as inability to achieve embedded control, restrictions on robot change or expansion, and robot system paralysis

Inactive Publication Date: 2007-08-22
HUAZHONG UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Existing robot systems are mostly dedicated systems that can only be adapted to robots with a specific structure. Once the structure of the robot changes, its controller must be redesigned, which limits the ability of the robot to change or expand according to the requirements of the task and working environment.
Moreover, the existing controllers do not have fault-tolerant functions. Once some joints

Method used

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  • Motion controller for modular embedded polypod robot
  • Motion controller for modular embedded polypod robot
  • Motion controller for modular embedded polypod robot

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Embodiment Construction

[0023] A modular embedded robot controller proposed by the present invention will be further described in detail below in conjunction with the accompanying drawings and examples.

[0024] The modular embedded robot in the present invention can realize walking motion similar to ordinary walking robots, and can provide expanded functions for the robot by adding new modules to the robot platform. Therefore, the controller needs to realize two functions: (1) control the robot to complete basic actions such as walking and turning; Plug and play" function. In order to realize modular functions, it is necessary to realize: (1) Divide the control system into different logical levels, (2) Implement a class of functions in each logical layer, (3) Use standard interfaces between logical layers interact.

[0025] After realizing the control system with modular characteristics, by analyzing the robot's motion control strategy, the robot's motion control can be subdivided and divided into...

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Abstract

The motion controller for modular embedded polypod robot includes one PC module, one robot body controlling module and foot unit controlling modules separately located in the feet. The PC module distinguishes the environment the robot is in, determines the next action of the robot and transmits the data to the robot body controlling module. The robot body controlling module processes the data into specific motion data, and dispenses the specific motion data via the robot data bus to the foot unit controlling modules. The present invention adopts hierarchical control mode comprising data operation layer based on PC, robot control layer with ARM processor as control core and great memory space, and joint control layer. The present invention can realize the off-line motion of robot and the seamless connection to PC for on-line debugging of robot.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a motion controller of a modular embedded multi-legged robot. Background technique [0002] The robot controller is the most important and critical part of the robot system. The performance of the robot controller directly determines the motion performance of the robot. Existing robot systems are mostly dedicated systems that can only be adapted to robots with a specific structure. Once the structure of the robot changes, its controller must be redesigned, which limits the ability of the robot to change or expand according to the requirements of the task and working environment. . And the existing controller does not have fault-tolerant function, once some joints of the robot are damaged, the whole robot system falls into a paralyzed state immediately. [0003] Although various open-structure robot controllers currently exist have achieved portability, scalability, ...

Claims

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Application Information

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IPC IPC(8): B25J9/16B25J13/00G05D1/02G05B19/418
CPCY02P90/02
Inventor 陈学东蒲华燕孙翊贾文川曾理湛何学明赵军
Owner HUAZHONG UNIV OF SCI & TECH
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