Title :
Design of the Control System for a Hexapod Walking Robot
Author :
Jin Bo ; Zhao Li-jun ; Zhang Jia-Lin ; Chen Cheng ; Hu Sha
Author_Institution :
Dept. of Mech. Eng., Zhejiang Univ., Hangzhou, China
Abstract :
In this paper, the structure of a mammal-Like hexapod walking robot is presented and the joint trajectory planning method of tripod gait is analyzed. The motions with 12 degrees of freedom (DOF) for the robot are reaLized by 12 rudder servos. The control pulse width send to each servomotor determines the motor position. The control system is composed of two layers with different function. Coordination-layer is a PC for regulating the whole system. It calculates each joint´s expected trajectory according to user´s definitions, and then transmits the objective position data to execution-layer through serial port. The execution-layer uses a ARM7 based microprocessor LPC2132 as core controller. It adopts time sLicing method and three timer-interrupt programs are employed to drive 12 rudder servos coordinately for reaLizing the steady walking of the robot.
Keywords :
control system synthesis; legged locomotion; path planning; ARM7 based microprocessor; LPC2132; control system design; cordination-layer; execution-layer; mammal-like hexapod walking robot; motor position; rudder servos; servomotor; time slicing method; trajectory planning; tripod gait; Joints; Legged locomotion; Robot kinematics; Servomotors; Thigh; Trajectory; ARM7 controller; control system; hexapod walking robot; joint trajectory planning;
Conference_Titel :
Digital Manufacturing and Automation (ICDMA), 2011 Second International Conference on
Conference_Location :
Zhangjiajie, Hunan
Print_ISBN :
978-1-4577-0755-1
Electronic_ISBN :
978-0-7695-4455-7
DOI :
10.1109/ICDMA.2011.105
