Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)

The Korean Institute of Electrical Engineers (대한전기학회)
권호 표지

Design and Implementation of Entertainment Biped Robot using RTOS and R/C Servo Motor

RTOS와 R/C 서보 모터를 이용한 엔터테인먼트 이족 보행 로봇 설계 및 구현

  • 김동진 (전남대학교대학원 메카트로닉스협동과정) ;
  • 김정기 (전남대학교대학원 메카트로닉스협동과정) ;
  • 기창두 (전남대학교 기계시스템공학부)
  • Published : 2003.11.21
Download PDF
⟨ Previous Next ⟩

Abstract

In this paper, a entertainment biped robot controlled by R/C servo motors is built using the embedded RTOS (Real Time Operating System). uC/OS-II V2.00 is used for RTOS and control algorithm of R/C servo motors is proposed based on uC/OS-II's preemptive and deterministic property without any extra PWM module. The realized biped robot has 19 DOF, and a board 80C196KC as main CPU. To verify the proper walking process, ZMP(Zero Moment Point) theory is applied and ADAMS is used for simulation.

Keywords