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Design of a Reconfigurable Humanoid Robot

Design of a Reconfigurable Humanoid Robot. Bo-Hee Lee School of Electrical Engineering Semyung University Republic of Korea. Contents. Background & Control Problem Humanoid Robot Architecture Structure of Joint Controller Walking Simulation Conclusion & Future Work.

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Design of a Reconfigurable Humanoid Robot

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  1. Design of a Reconfigurable Humanoid Robot Bo-Hee Lee School of Electrical Engineering Semyung University Republic of Korea

  2. Contents • Background & Control Problem • Humanoid Robot Architecture • Structure of Joint Controller • Walking Simulation • Conclusion & Future Work

  3. Necessity of research • Algorithm necessity that reconfiguration is available • Free action implementation of robot • Correct and fast action implementation of robot • Controller miniaturization, light weight Tuesday • Research abstract • Robot design • Trajectory plan through kinematics • Reconfiguration is available controller design • FPGA logic implementation • RTOS loading (VxWorks) • Multitasking control

  4. Mechanical joint assemblies • The left side top • portion whole use that. • The right side top • portion is built state of each module. • The side down • built state of arm and leg department.

  5. Basic Configuration Table 1 Specification

  6. coordinate system • 25-DOF • 6-DOF legs • 4-DOF arms • 3-DOF waist • 2-DOF head

  7. inverse kinematics of waist

  8. inverse kinematics of arm

  9. inverse kinematics of leg

  10. Waist trajectory • Transfer path • Basis position. • Swing to left. • Swing to right. • Basis position. • Set in action of leg center transfer. • Basing standard coordinate left·right swing.

  11. Arm trajectory • Transfer path • Basis position. • Backward 10˚ swing. • Forward 10˚ swing. • Forward 20˚ swing. • Basis position. • Set in action of leg center transfer. • Basing standard coordinate front·back swing.

  12. Leg trajectory • Transfer path • Basis position. • To bend knee. • Center transfer. • To raise right leg. • Stretch on right leg. • Chassis forward center transfer. • To raise left leg. • Stretch on left leg. • Chassis forward center transfer. • To raise right leg. • To put down right leg. • Center transfer. • Basis position.

  13. Robot controller • Virtex4FX12 module • CPU - PPC405 • OS - VxWorks • SystemAce module • CF Card interface • JTAG interface

  14. Block diagram of FPGA inside • controller interiorly PPC405 hard core use • Using logic gate OPB BUS, UART, SystemAce interface, GPIO etc. design • Externally DDR SDRAM, FLASH memory installation

  15. Block diagram of controller • BSP design that use FPGA • UART(RS232) • UART(RS485) • LED • VxWorks potting • 통신 방식 • RS232 : PC  Target board • RS485 : Motor drive

  16. State diagram of task relation • Multitasking • Drive Task of leg, arm, waist of robot . • Timer Taeseukeu that can set motive between motor drive and system • In time 15ms trajectory plan data for motor drive, inverse kinematics, transmission packet data transmission • Using Semaphore between Taeseukeu control competence grant

  17. Experiment environment • EDK8.1 • Various IP designs that use FPGA logic. • BSP design for RTOS potting. • Tornado 2.2 • Object file creation. • XMD • Object file download that use JTAG. • Tera Term • PC monitor display.

  18. Timing chart • Order acted in VxWorks • Position setting of end point of robot • Trajectory plan • inverse kinematics • Rotation angle data • Making Transmission data • Data transmission

  19. Real timing snapshot • Waveform that SERO-VI is acted • Part that is marked black • Motor data uses RS485 communication, transmission • Part that is marked white • SERO-VI's trajectory and inverse kinematics, time that create data • Data waits next data transmission after transmission

  20. Task operation • Multitasking control implementation • Trajectory plan • inverse kinematics explaining • Data generator for handler drive • Control competence grant • Semaphores utilization • Multitasking control method • Precedence control • Sero_Timer • Leg = Waist = Arm

  21. Conclusion • Humanoid robot controller design way proposal that refreshable uses possible FPGA and RTOS • Design system by user's partisan and use characteristic that can be fertilized, controller design • RTOS's characteristic that process task during right time embodying simple action of robot controlling task of utilization 3 verification • Future work • Research necessity about task control for various implementation method of robot and controller rescue hereafter • Obstacle escaping ability of robot and research requirement about method that can cooperate mutually that use various sensors

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