本文提出了一種以ARM9 為主控制器的新型的仿人機(jī)器人分布式控制系統(tǒng)。單片機(jī)和外部計(jì)數(shù)器組成關(guān)節(jié)控制器。主控制器和關(guān)節(jié)控制器之間采用USB 通信。從而實(shí)現(xiàn)了控制系統(tǒng)的小型化和低功耗。通過該系統(tǒng)控制小型仿人機(jī)器人完成了行走實(shí)驗(yàn)。
關(guān)鍵詞: 分布式控制系統(tǒng)；ARM9；仿人機(jī)器人

Design of A Small Humanoid Robot Control System Zhang Zhou, Huang Qiang, Li Guangri (Department of Mechatronic Engineering, Beijing Institute of technology, Beijing, 100081) Abstract: This paper proposes a new distributed control system of humanoid robot, which consists of an ARM9 and a joint controller. One-single chip and four-CD4017IC make up the joint controller. And ARM9 communicates with joint controller by USB. Miniaturization and reduction of the power dissipation of the control system can be realized. The effectiveness of the designed controller has been confirmed by the walking experiment of our developed humanoid robot.
Key words: Distributed control system; ARM9; Humanoid robot