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Design and Implementation of a Bird Type Biped Robot for Entertainment  

Kim Dong-Jin (삼성전자)
Yu Seung-Hwan (전남대학교 대학원 기계공학과)
Shen Yun-De (전남대학교 대학원 기계공학과)
Jang Seung-Ik (전남대학교 대학원 기계공학과)
Kee Chang-Doo (전남대학교 기계공학과)
Publication Information
Journal of the Korean Society for Precision Engineering / v.22, no.3, 2005 , pp. 38-45 More about this Journal
Abstract
In this paper, a bird type biped robot for entertainment controlled by R/C servo motors, is built using the embedded RTOS (Real Time Operating System). ${\mu}C/OS-II$ V2.00 is used fur RTOS and the board 80C196KC for main CPU. A control algorithm of R/C servo motors is proposed on ${\mu}C/OS-II preemptive and deterministic property without any extra PWM module. The realized biped robot has 19DOF, that is, 12DOF for both legs, 6DOF for both arms and 1DOF for neck. To verify the proper walking process, ZMP(Zero Moment Point) theory is applied and the simulation has been done by ADAMS.
Keywords
Bird Type Biped Robot; Entertainment Robot; RTOS;
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