Title :
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
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;
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
DOI :
10.1109/ICARCV.2006.345133
