지능형 제어기법 및 센서 인터페이스를 이용한 이족 보행 로봇의 동적보행 제어

Dynamic Walking Control of Biped Walking Robot using Intelligent Control Method and Sensor Interface

  • 고재원 (유한대학 컴퓨터제어과) ;
  • 임동철 (두원공과대학 디스플레이공학과)
  • 발행 : 2007.12.01

초록

This paper introduces a dynamic walking control of biped walking robot using intelligent sensor interface and shows an intelligent control method for biped walking robot. For the dynamic walking control of biped walking robot, serious motion controllers are used. They are main controller(using INTEL80C296SA MPU), sub controller(using TMS320LF2406 DSP), sensor controller(using Atmega128 MPU) etc. The used sensors are gyro sensor, tilt sensor, infrared sensor, FSR sensor etc. For the feasibility of a dynamic walking control of biped walking robot, we use the biped walking robot which has twenty-five degrees of freedom(D.O.F.) in total. Our biped robot is composed of two legs of six D.O.F. each, two arms of five D.O.F. each, a waist of two D.O.F., a head of one D.O.F.

키워드

참고문헌

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