Interfacing of Biped KHR-1 with DSP Board TMS320F2812

Author

Hun, Lim Chot ; Kiong, Wong Eng ; Chet, Koo Voon

Author_Institution

Fac. of Eng. & Technol., Multimedia Univ., Melaka

fYear

2006

fDate

5-8 Dec. 2006

Firstpage

1

Lastpage

6

Abstract

This paper describes the interfacing of the biped robot KHR-1 with DSP board TMS320F2812. In this study, the KHR-1 is modeled as a seven-link biped, with each joint connected with a servomotor KRS-784 ICS. The I/O port of the DSP board provides PWM signals to the biped joints for joint control. TMS320F2812 is chosen due to its high PWM resolution as well as its flexibility in PWM frequency setting. The computed joint trajectories of the biped robot are based on the zero moment point (ZMP) model. Walking trajectories are constructed and tested, and the results are beneficial to both biped research as well as mechatronics education for undergraduates

Keywords

control engineering computing; digital signal processing chips; legged locomotion; pulse width modulation; servomotors; KRS-784 ICS servomotor; PWM; TMS320F2812 DSP board; biped KHR-1; biped robot; joint control; walking trajectories; zero moment point model; Digital signal processing; Educational robots; Equations; Kinematics; Legged locomotion; Mathematical model; Mobile robots; Motion control; Pulse width modulation; Stability analysis; Lightweight Biped; TMS320F2812; ZMP;

fLanguage

English

Publisher

ieee

Conference_Titel

Control, Automation, Robotics and Vision, 2006. ICARCV '06. 9th International Conference on

Conference_Location

Singapore

Print_ISBN

1-4244-0341-3

Electronic_ISBN

1-4214-042-1

Type

conf

DOI

10.1109/ICARCV.2006.345133

Filename

4150043