Title :
Study on humanoid motion control system
Author :
Wang, Jian ; Liu, Hui ; Ma, Hongxu
Author_Institution :
Dept. of Mechtronic & Autom., Nation Univ. of Defense Technol., Changsha, China
Abstract :
In this paper, the configuration of humanoid motion control system is brought forward according to the requirement of humanoid structure and control characters. The plan of motion control system, the structure of lower controllers, control algorithm and the ways of data exchange are expatriated in detail. Finally, the efficiency of the control system is proved and the prototype is realized, and the emphasis of our future work is described.
Keywords :
legged locomotion; motion control; control algorithm; data exchange; humanoid system; motion control; Automatic control; Automation; Control systems; Fingers; Humanoid robots; Joints; Motion control; Motion planning; Pulse width modulation; Servomotors;
Conference_Titel :
Robotics, Intelligent Systems and Signal Processing, 2003. Proceedings. 2003 IEEE International Conference on
Print_ISBN :
0-7803-7925-X
DOI :
10.1109/RISSP.2003.1285550
