Common distributed control system for humanoid robot

Abstract

The invention relates to a common distributed control system for a humanoid robot, which adopts a dual-host main control layer structure and an intelligent body-based coordination execution layer structure, wherein two main control computers in the main control layer works under a real-time system and a Windows system respectively to complete the gait programming and walking control of the robot, the robot joint motor debugging, motor transmission signal examination, sensor information acquisition and exceptional case emergency treatment. The coordination and execution layer consists of a plurality of independent intelligent bodies and is responsible for robot joint servo control; each intelligent body consists of one joint controller, a plurality of joint driving circuits and a corresponding electrooptical signal processor; and the joint controllers send signals to the driving circuits which control the motor to move, and the electrooptical signal processors receive signals from a photoelectric encoder and send the signals back to the joint controllers. The information transmission between the main control layer and the coordination execution layer is realized by a CAN bus. The distributed system structure of the invention has the characteristics of high reliability, flexibility, easy maintenance and the like.

Description

technical field [0001] The invention relates to a distributed humanoid robot general control system, which realizes the standardization and generalization of the humanoid robot control system modules, and relates to the fields of robotics, computer engineering, man-machine interface technology and the like. Background technique [0002] In recent years, humanoid robots have become a research hotspot in the field of robotics. Humanoid robots have advantages unmatched by other types of robots. They are easy to integrate into human daily life and working environment, and assist humans to complete specific tasks. However, as a complex system with more than 30 degrees of freedom, a humanoid robot needs to effectively use its own multi-sensor information to perceive the external environment and its own state changes, and adjust its motion actuators. Therefore, its control system is required to have High reliability and real-time performance. [0003] The centralized control syst...

AI Technical Summary

Problems solved by technology

However, the real-time operating system has poor support for robot multimedia performance, cumbersome programming and unfriendly user interface, which increases the difficulty of overall debugging of the humanoid robot system

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