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Distributed control system and method for humanoid robot

A humanoid robot and distributed control technology, applied in the field of robotics, can solve the problem of huge computing tasks of the main controller

Inactive Publication Date: 2016-08-03
张锐
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Problems solved by technology

[0004] The purpose of the present invention is to provide a distributed control system and method for a humanoid robot to solve the problem of the huge computational tasks of the main controller in the prior art

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  • Distributed control system and method for humanoid robot
  • Distributed control system and method for humanoid robot
  • Distributed control system and method for humanoid robot

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Embodiment Construction

[0044] In order to enable those skilled in the art to better understand the technical solutions of the present invention, the present invention will be further described in detail below in conjunction with the accompanying drawings.

[0045] Such as Figure 1-2 As shown, a distributed control system of a humanoid robot provided by an embodiment of the present invention includes a sensor assembly 1, a main controller 2, a secondary controller 3, and a power unit 4. The sensor assembly 1 includes at least one sensor, and the sensor uses to obtain environmental parameters; the main controller 2 calculates and obtains the action control instructions of the humanoid robot according to the environmental parameters; there is at least one secondary controller 3, and the secondary controller 3 analyzes the action control instructions to obtain the operating parameters of each power unit; Unit 4 includes a third-level motor driver, motor, encoder and motor rotation position sensor.

[...

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Abstract

The invention discloses a distributed control system and method for a humanoid robot. The distributed control system comprises a sensor assembly, a master controller, secondary controllers and power units. The sensor assembly comprises at least one sensor, and the sensors are used for acquiring environment parameters. The master controller is used for calculating and acquiring a motion control instruction of the humanoid robot according to the environment parameters. The number of the secondary controllers is at least one, and the secondary controllers analyze the motion control instruction so as to acquire operation parameters of all the power units. The power units operate according to the operation parameters. According to the distributed control system for the humanoid robot, the master controller overall plans a task control instruction of the humanoid robot, the task control instruction is analyzed by the multiple secondary controllers, finally motion control of the robot is achieved, and therefore calculation tasks of the master controller are partially issued to the secondary controllers and third-level controllers, and the task load of the master controller is relieved accordingly.

Description

technical field [0001] The invention relates to robot technology, in particular to a distributed control system and method for a humanoid robot. Background technique [0002] A humanoid robot refers to a robot designed and manufactured to imitate the shape and behavior of a human. The limbs of a humanoid robot can move, and for the specific hands and legs, there are at least three movable parts. The shoulder joints of the hands , elbow and wrist joints, hip, knee and ankle joints of the legs. In terms of the control of the humanoid robot, it includes a main controller, which simultaneously controls the motor controllers of each movable part. [0003] The disadvantage of the prior art is that the main controller controls all the motor controllers. On the one hand, the main controller has a large number of connection ports. On the other hand, the main controller needs to calculate the control instructions of all the motors, so that the main controller The calculation task of...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1633B25J9/1651B25J9/1658B25J9/1661B25J9/1694
Inventor 张锐
Owner 张锐
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