Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Design of Embedded EPGA for Controlling Humanoid Robot Arms Using Exoskeleton Motion Capture System

Exoskeleton 모션 캡처 장치로 다관절 로봇의 원격제어를 하기 위한 FPGA 임베디드 제어기 설계

  • 이운규 (충남대학교 메카트로닉스공학과) ;
  • 정슬 (충남대학교 BK21 메카트로닉스그룹)
  • Published : 2007.01.01
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Abstract

In this paper, hardware implementation of interface and control between two robots, the master and the slave robot, are designed. The master robot is the motion capturing device that captures motions of the human operator who wears it. The slave robot is the corresponding humanoid robot arms. Captured motions from the master robot are transferred to the slave robot to follow after the master. All hardware designs such as PID controllers, communications between the master robot, encoder counters, and PWM generators are embedded on a single FPGA chip. Experimental studies are conducted to demonstrate the performance of the FPGA controller design.

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References

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