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

Kho, Jaw-Won (유한대학 컴퓨터제어과)
Lim, Dong-Cheol (두원공과대학 디스플레이공학과)
Publication Information
The Transactions of the Korean Institute of Electrical Engineers P / v.56, no.4, 2007 , pp. 161-167 More about this Journal
Abstract
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.
Keywords
Biped Walking Robot; Dynamic Walking; Intelligent control; Intelligent Sensor Interface;
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