대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 2003년도 학술회의 논문집 정보 및 제어부문 B
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- Pages.998-1001
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- 2003
RTOS와 R/C 서보 모터를 이용한 엔터테인먼트 이족 보행 로봇 설계 및 구현
Design and Implementation of Entertainment Biped Robot using RTOS and R/C Servo Motor
- 발행 : 2003.11.21
초록
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.