Design and implementation of high efficiency biped robot system

Author

Hou, ZhiCheng ; Chen, Hongshuai ; Su, Jianle ; Sui, Zhen ; Cui, Xiangji ; Tian, Yantao

Author_Institution

Sch. of Commun. Eng., Jilin Univ., Changchun, China

fYear

2010

fDate

26-28 May 2010

Firstpage

2433

Lastpage

2438

Abstract

This paper introduces the characteristics of the PADW-II robot´s construction. PADW-II robot has an upper body which uses bisector mechanism. This structure is proved more efficient than other types of upper body. The robot can be concluded to finite state machine modal. The control system hardware is designed with ARM7-based embedded exploitation board which embedded μC/OS - II real time operating system. The control system has a hierarchical structure to improve the reliability and immunity for the system. The algorithm is also designed based on the FSM modal. To implement the algorithm, we develop the software based on μC/OS - II real time operation system, by which several different tasks are created to fulfill the states control of the robot. Some experiments have been done and the energy efficiency contrasting to some robots is given. In accordance with the characteristic of the control the conception of Under-actuated system is advanced at last.

Keywords

control systems; finite state machines; legged locomotion; real-time systems; ARM7-based embedded exploitation; FSM modal; PADW-II robots construction; biped robot system; bisector mechanism; control system hardware design; energy efficiency; finite state machine modal; real time operating system; under actuated system; Algorithm design and analysis; Automata; Control systems; Energy efficiency; Hardware; Immune system; Operating systems; Real time systems; Robot control; Software algorithms; FSM; algorithm; biped robot; upper body;

fLanguage

English

Publisher

ieee

Conference_Titel

Control and Decision Conference (CCDC), 2010 Chinese

Conference_Location

Xuzhou

Print_ISBN

978-1-4244-5181-4

Electronic_ISBN

978-1-4244-5182-1

Type

conf

DOI

10.1109/CCDC.2010.5498809

Filename

5498809