Control system of humanoid biped robot

Abstract

The invention provides a control system of a humanoid biped robot. The robot comprises two leg parts and 12 degrees of freedom, each degree of freedom is corresponding to one joint motor. The control system comprises a main controller installed on the body of the robot, and joint controllers, motor driving circuits, motor encoders, joint angle sensor and feedback conditioning circuits which are respectively corresponding to the joint motors, and plantar pressure sensors and plantar gyroscopes installed on soles of two feet of the robot. The control system is characterized in that the main controller receives information feedback of the plantar pressure sensors and gyroscopes, plans a path and transmits motion instructions to each joint controller; and the joint controllers control joint motors to execute the motion instructions, receive information fed back by the motor encoders and the joint angle sensors and utilize a fuzzy self-adaptation PID control method to precisely control the motors according to the feedback information, so that the robot is enabled to walk precisely according to the ground condition.

Description

technical field [0001] The invention relates to the field of robot control, in particular to a biped robot control system based on ARM+DSP chips. Background technique [0002] Biped robot technology integrates many disciplines such as machinery, electronics, materials, computers, and automation. It has a very complex mechanical structure and control system. Compared with other robots, biped robots are more flexible in walking and can adapt to various situations. road conditions. [0003] At present, many universities and research institutions at home and abroad are also conducting research on biped robots. The difficulty of the research lies in the control of biped robots. Although many robot control systems have appeared, there are still many deficiencies: 1) Some control systems use less joint motor controllers than joint motors, which is difficult for humanoid biped robots walking in complex environments. Said that it is difficult to realize the calculation with a large...

AI Technical Summary

Problems solved by technology

Although many robot control systems have emerged, there are still many deficiencies: 1) Some control systems use less joint motor controllers than joint motors, which is very difficult for humanoid biped robots walking in complex environments Said that it is difficult to realize the calculation with a large amount of feedback, and it is difficult to ensure the real-time performance of robot control; 2) Use the conventional PID control method to control the joint motor. This control algorithm has motor overshoot, load changes and electromagnetic interference. 3) In terms of motor feedback, there is only feedback on the motor speed and position information, without taking into account the fact that the joint angle may not be synchronized with the motor rotation angle and that the joint angle does not rotate to the plan due to accumulated errors In the case of the angle, there is no feedback on the angle information of the motor and the joint at the same time, which is likely to cause adverse effects; 4) In the sensor feedback conditioning circuit, it is necessary to design a corresponding conditioning circuit for sensors with different output voltage analog values. The process is complicated and the design more difficult

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