CN109895120A - A kind of control system of two leg walking robot - Google Patents
A kind of control system of two leg walking robot Download PDFInfo
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- CN109895120A CN109895120A CN201711283164.XA CN201711283164A CN109895120A CN 109895120 A CN109895120 A CN 109895120A CN 201711283164 A CN201711283164 A CN 201711283164A CN 109895120 A CN109895120 A CN 109895120A
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Abstract
The control system of two leg walking robot disclosed by the invention a kind of, upper and lower machine distributed control structure is used in structure, each joint control of left leg, each joint control of right leg of decision master controller and slave computer including host computer, decision master controller is used to handle the image information of imaging sensor acquisition, and the robot current kinetic situation of left foot plantar pressure sensors, left foot plantar pressure sensors acquisition, and control command is sent by each joint control of each joint control of left leg, the right leg of CAN controller to the slave computer of CAN bus；Each joint control of left leg, each joint control of right leg control each joint motor and execute movement instruction, and receive the information of motor encoder and joint angles sensor feedback, accurate control according to feedback information using fuzzy self-adaptive PID realization to motor, it allows the robot to accurately be walked according to surface state in real time.
Description
Technical field
The present invention relates to robotic technology field more particularly to a kind of control systems of two leg walking robot.
Background technique
Appearance away from the first in the world robot in 1962, the developing history that robot has passed by more than 50 years.More than 50
Nian Lai, robot develop to intelligent robot by industrial robot, successfully become one of the new and high technology of 21 century, research
Range is wide, and it is more to be related to subject, mainly covers the multiple fields such as machinery, electronics, biology, sensor, driving and control.However biped
The research of walking robot has important scientific meaning and application prospect, and the walking unit part of biped walking itself has non-
Normal dynamics abundant and kinematics characteristic, it has flexible walking mechanism, can go to the place of needs, including one at any time
A little ordinary peoples are not easy the place reached, and completion people specifies or pre-set work.Compared with industrial robot, superiority body
Now wide activity space and working space.Biped walking is the maximum walking movement of living nature difficulty, but its walking performance
It is that other walking configurations are incomparable.Mankind's walking movement has superior travelling performance compared with other mechanism kinematics
And adaptive capacity to environment.But the Control system architecture of current two leg walking robot is complicated, at high cost, it is difficult to meet biped walking
The walking requirement of robot makes it difficult to a wide range of, the large-scale marketization and promotes.Therefore, it is necessary to a kind of solutions of technical solution
The above problem.
Summary of the invention
One is provided the purpose of the present invention is overcoming the deficiencies in the prior art for the above the deficiencies in the prior art
The control system of kind two leg walking robot, structure is simple, can control effectively to the walking of biped robot, adapts to model
It encloses extensively, it is at low cost, securely and reliably.
To achieve the above object, the present invention is implemented with the following technical solutions:
A kind of control system of two leg walking robot, body structural member are made of aluminum titanium alloy, can not only be mitigated
Weight, and have higher strength and stiffness.The two leg walking robot has altogether 21 freedom degrees, in which: lower limb
Two leg freedom degrees 26 share 12 freedom degrees, and there are six freedom degrees for every leg, including the ankle-joint two for forward swing and side-sway
A freedom degree, for the knee joint one degree of freedom of forward swing, and for forward swing, side-sway and rotation hip joint three degree of freedom；Waist
Joint one degree of freedom is rotary freedom；Both arms share six-freedom degree, and every arm includes before shoulder to lateral each one
A freedom degree, ancon rotate one degree of freedom；There are 2 freedom degrees on head, is pitching and rotary freedom；And each freedom degree
Correspond to a joint motor.
Upper and lower machine distributed control structure, the decision master including host computer are used on Control system architecture of the invention
Each joint control of the left leg of controller and slave computer, each joint control of right leg；The decision master controller is used to handle figure
The robot current kinetic of the image information and left foot plantar pressure sensors, the acquisition of left foot plantar pressure sensors that are acquired as sensor
Situation, obtains the action that robot should take in next step after calculation process, and by the CAN controller of CAN bus to
Each joint control of each joint control of left leg, the right leg of slave computer sends control command；Each joint control of the left leg, the right side
The various motor functions of both legs of each joint control management of leg robot, directly affect the movenent performance of robot, function packet
Include gait storage, the control of online pose adjustment, joint motor, and all feedbacks in addition to image.
The control system connection relationship of the invention:
The decision master controller is electrically connected with CAN controller, imaging sensor respectively, the CAN bus control
Device processed feeds back conditioning circuit with each joint control of left leg, left foot feedback conditioning circuit, each joint control of right leg, right foot respectively
It is electrically connected；
Each joint control of left leg is electrically connected with each joint interface circuit of left leg, left leg gait memory respectively,
Each joint interface circuit of left leg and each joint drive circuit of left leg, each joint motor of left leg, each joint of left leg, left leg photoelectricity
Each joint interface circuit of encoder, left leg is sequentially electrically connected, and left each joint motor of leg and left leg photoelectric encoder are electrical
Connection, left each joint angles sensor of leg are sequentially electrically connected with left leg feedback conditioning circuit, each joint of left leg, and left foot vola passes
Sensor and left foot feedback conditioning circuit are electrically connected；
Each joint control of right leg is electrically connected with each joint interface circuit of right leg, right leg gait memory respectively,
Each joint interface circuit of right leg and each joint drive circuit of right leg, each joint motor of right leg, each joint of right leg, right leg photoelectricity
Each joint interface circuit of encoder, right leg is sequentially electrically connected, and right each joint motor of leg and right leg photoelectric encoder are electrical
Connection, right each joint angles sensor of leg are sequentially electrically connected with right leg feedback conditioning circuit, each joint of right leg, and right whole bottom passes
Sensor and right foot feedback conditioning circuit are electrically connected.
The decision master controller is ARM chip, and each joint control of the left leg, each joint control of right leg are DSP
Chip, the decision master controller being installed on machine human body, corresponding to each joint motor of the left leg in each of each joint of left leg
Each joint control of left leg, each joint interface circuit of left leg, each joint drive circuit of left leg, left leg photoelectric encoder, left leg are anti-
Conditioning circuit, each joint angles sensor of left leg are presented, and the left foot feedback conditioning being installed on the sole of robot left foot
Circuit, left foot plantar pressure sensors, and left foot plantar pressure sensors include plantar pressure sensor and vola gyroscope two parts；It is corresponding
It is each in each joint interface circuit of each joint control of right leg, right leg, the right leg of each joint motor of the right leg in each of each joint of right leg
Joint drive circuit, right leg photoelectric encoder, right leg feed back conditioning circuit, each joint angles sensor of right leg, and are installed on
Right foot feedback conditioning circuit, right sufficient plantar pressure sensors on the sole of robot right crus of diaphragm, and right sufficient plantar pressure sensors include foot
Base pressure force snesor and vola gyroscope two parts.
Each joint interface circuit of the left leg, each joint interface circuit of right leg mainly complete each joint control of left leg, the right side
Level conversion between each joint drive circuit of leg, while playing the left leg of protection each joint control, each joint control of right leg
Effect；
Each joint drive circuit of the left leg, each joint drive circuit of right leg for drive each joint motor of the left leg,
Right each joint motor of leg, each joint control of the left leg, each joint control of right leg receive and come from the left leg photoelectric coding
The feedback signal of device, right leg photoelectric encoder and each joint angles sensor of left leg, each joint angles sensor of right leg, and export
Control instruction to each joint drive circuit of the left leg, each joint drive circuit of right leg, the left leg feeds back conditioning circuit, right leg
Feedback conditioning circuit is used to adjust the feedback signal of each joint angles sensor of left leg, each joint angles sensor of right leg；
The left foot plantar pressure sensors, plantar pressure sensors are various respectively includes plantar pressure sensor and vola gyro for right foot
Instrument two parts, plantar pressure sensor are used for robot measurement motion process mesopodium bottom stress condition, and vola gyroscope is for surveying
Measure robot kinematics mesopodium slanted floor angle；
The left foot feedback conditioning circuit, right foot feedback conditioning circuit include pressure sensor conditioning circuit and gyroscope
Conditioning circuit is fed back, for adjusting the feedback signal of plantar pressure sensor and vola gyroscope, the left leg gait memory,
Right leg gait memory is for storing robot or so leg walking step state.
Each joint interface circuit of the decision master controller, left leg, each joint interface circuit of right leg, each joint drive of left leg
Each joint drive circuit of circuit, right leg, each joint control of left leg, each joint control of right leg, left foot feed back conditioning circuit, the right side
Foot feedback conditioning circuit, left leg gait memory, right leg gait memory are installed on the hip joint of robot, on the one hand
It is easy for installing, another reverse side is the movement for not influencing robot lower limb joint.
Each joint motor of the left leg, the corresponding each joint of left leg for being mounted on robot of each joint motor of right leg, right leg are each
On each joint in joint, the left leg photoelectric encoder, right leg photoelectric encoder are respectively respectively closed with each joint motor of left leg, right leg
Section electric machine main shaft is co-axially mounted, each joint angles sensor of the left leg, each joint angles sensor of right leg and joint rotational axis
It is co-axially mounted.
Several pressure sensors in the left foot plantar pressure sensors, right sufficient plantar pressure sensors are uniformly mounted on robot foot
On bottom plate, gyrohorizon is mounted on foot plate surface, parallel with foot plate surface.
When robot ambulation works, the decision master controller is first according to the feedback of foot bottom pressure sensor and gyroscope
Information carries out robot gait planning, then converts control instruction for planning path, then passes through the CAN bus of CAN bus
Controller is handed down to each joint control of each left leg, each joint control of right leg of leg.
Each left leg of each joint control control respective leg portions of each joint control of the left leg in the leg of robot, right leg respectively closes
Motor, each joint motor of right leg are saved, meanwhile, corresponding left leg photoelectric encoder, right leg photoelectric encoder and each joint of left leg
The revolving speed of the motor, position and corresponding joint angle information are fed back to this by each joint angles sensor of angular transducer, right leg
Leg joint control, the leg joint control application fuzzy self-adaptive PID, forms real-time joint angles control
System instruction, then drives respective leg portions joint motions by respective leg portions joint motor driving circuit.
Each sensor acquires corresponding information, the substantially analog voltage amount of 0~Vcc, and the value of this analog quantity needs
By the ADC acquisition of conditioning circuit ability via controller.Firstly, the analog quantity of sensor is by the reversed operation amplifier electricity of the first order
Road, any 0~Vcc voltage can be converted into absolute value in the collectable voltage model of ADC by adjusting adjustable resistance Rf1 and resistance R ' 1
Interior negative voltage is enclosed, then negating voltage value by the reversed operational amplification circuit in the second level and then becoming controller ADC can adopt
The information of voltage of collection, finally, a two-diode clamp circuit guarantees the safety of controller ADC.In this way, being put by two-stage calculation
The analog quantity of any 0~Vcc of sensor can be converted into being suitble to the voltage of controller ADC acquisition by big circuit and clamp circuit
Signal, then controller ADC is acquired calculating, and the motor information and angle information of robot can be obtained.
In the process of movement, the pressure of two legs and ground face contact is by left foot plantar pressure sensors, right foot for the robot
Plantar pressure sensor in plantar pressure sensors measures, and the gradient of foot plate surface is measured by sole gyroscope, and joint angles are by right
Each joint angles sensor of the left leg answered, each joint angles sensor of right leg measure, and the right leg of left each joint motor of leg respectively closes
Section motor is measured by left leg photoelectric encoder, right leg photoelectric encoder respectively, if it find that joint angles sensor and motor angle
It spends inconsistent, then needs to carry out installation correction to the related motor of robot again.
Each joint control of each joint control of the left leg in leg, right leg combines the motor status information and angle sensor of feedback
Device information, and use Fuzzy Adaptive PID Control algorithm optimizes to each joint motor of each left leg, each joint motor of right leg
Control, enables each joint motor of each left leg, each joint motor of right leg accurately to control, quick response.
The utility model has the advantages that the control system of two leg walking robot disclosed by the invention a kind of, upper and lower machine is used in structure
Distributed control structure, each joint control of left leg of decision master controller and slave computer including host computer, each joint of right leg
Controller, decision master controller are used to handle the image information and left foot plantar pressure sensors, left foot foot of imaging sensor acquisition
The robot current kinetic situation of bottom sensor acquisition, and it is each by the left leg of CAN controller to the slave computer of CAN bus
Each joint control of joint control, right leg sends control command；Each joint control control of each joint control of left leg, right leg
Each joint motor executes movement instruction, and receives the information of motor encoder and joint angles sensor feedback, according to feedback letter
Breath realizes accurate control to motor using fuzzy self-adaptive PID, allows the robot in real time according to surface state,
Accurately walk.
Detailed description of the invention
Fig. 1 is robot freedom degree schematic diagram of the invention；
Fig. 2 is Control system architecture schematic block diagram of the invention；
Fig. 3 is the circuit diagram that conditioning circuit is fed back in the present invention.
In figure: 1- decision master controller, 2-CAN bus control unit, 3- imaging sensor, each joint control of the left leg of 4-,
Each joint interface circuit of the left leg of 5-, each joint drive circuit of the left leg of 6-, each joint motor of the left leg of 7-, each joint of the left leg of 8-, 9- are left
Leg photoelectric encoder, 10- left leg feedback conditioning circuit, each joint angles sensor of the left leg of 11-, the left leg gait memory of 12-,
13- left foot feeds back each joint interface electricity of conditioning circuit, 14- left foot plantar pressure sensors, each joint control of the right leg of 15-, the right leg of 16-
Road, each joint drive circuit of the right leg of 17-, each joint motor of the right leg of 18-, each joint of the right leg of 19-, the right leg photoelectric encoder of 20-,
The right leg feedback conditioning circuit of 21-, each joint angles sensor of the right leg of 22-, the right foot feedback conditioning circuit of 22-, the right leg gait of 23- are deposited
The right foot feedback conditioning circuit of reservoir, 24-, 25- right sufficient plantar pressure sensors, the leg 26- freedom degree, 27- waist freedom degree, 28- arm
Portion's freedom degree, 29- head freedom.
Specific embodiment
For a further understanding of the present invention, the preferred embodiment of the invention is described below with reference to embodiment, still
It should be appreciated that these descriptions are only further explanation the features and advantages of the present invention, rather than to the claims in the present invention
Limitation.
As shown in Fig. 1, the present invention provides a kind of two leg walking robots, and body structural member is by aluminum titanium alloy structure
At can not only mitigate weight, but also have higher strength and stiffness.The two leg walking robot altogether have 21 from
By spending, in which: two leg freedom degree 26 of lower limb shares 12 freedom degrees, and there are six freedom degrees for every leg, including for forward swing and
Two freedom degrees of ankle-joint of side-sway, for the knee joint one degree of freedom of forward swing, and for forward swing, side-sway and rotation hip joint
Three degree of freedom；27 one degree of freedom of waist joint waist freedom degree, is rotary freedom；There are six both arms arm freedom degree 28 is total
Freedom degree, every arm include before shoulder to lateral each one degree of freedom, ancon rotates one degree of freedom；Head freedom 29
There are 2 freedom degrees, is pitching and rotary freedom；And each freedom degree corresponds to a joint motor.
As shown in Fig. 2, upper and lower machine distributed control structure is used on Control system architecture of the invention, including upper
Each joint control 4 of left leg, each joint control 15 of right leg of the decision master controller 1 and slave computer of position machine；The decision master
Controller 1 is used to handle the image information and left foot plantar pressure sensors 14, left foot plantar pressure sensors of the acquisition of imaging sensor 3
The robot current kinetic situations of 25 acquisitions obtain the action that robot should take in next step after calculation process, and pass through CAN
Each joint control 15 of each joint control 4 of the left leg of the CAN controller 2 of bus to slave computer, right leg sends control life
It enables；Each joint control 4 of the left leg, each joint control 15 of right leg manage the various motor functions of both legs of robot, directly
The movenent performance of robot is influenced, function includes gait storage, the control of online pose adjustment, joint motor, and removes image
Outer all feedbacks.
The control system connection relationship of the invention:
The decision master controller 1 is electrically connected with CAN controller 2, imaging sensor 3 respectively, the CAN bus
Controller 2 is fed back with each joint control 4 of left leg, left foot feedback conditioning circuit 13, each joint control 15 of right leg, right foot respectively
Conditioning circuit 24 is electrically connected；
Each joint control 4 of left leg electrically connects with each joint interface circuit 5 of left leg, left leg gait memory 12 respectively
Connect, each joint interface circuit 5 of left leg and each joint drive circuit 6 of left leg, each joint motor 7 of left leg, each joint 8 of left leg,
Each joint interface circuit 5 of left leg photoelectric encoder 9, left leg is sequentially electrically connected, left each joint motor 7 of leg and left leg photoelectricity
Encoder 9 is electrically connected, and left each joint angles sensor 11 of leg and left leg feedback conditioning circuit 10, each joint 8 of left leg are sequentially electric
Property connection, left foot plantar pressure sensors 14 and left foot feedback conditioning circuit 13 be electrically connected；
Each joint control 15 of right leg is electrical with each joint interface circuit 16 of right leg, right leg gait memory 23 respectively
Connection, right each joint interface circuit 16 of leg are respectively closed with each joint drive circuit 17 of right leg, each joint motor 18 of right leg, right leg
Section 19, right leg photoelectric encoder 20, each joint interface circuit 16 of right leg are sequentially electrically connected, right each joint motor 18 of leg with
Right leg photoelectric encoder 20 is electrically connected, and right each joint angles sensor 22 of leg is respectively closed with right leg feedback conditioning circuit 21, right leg
Section 19 is sequentially electrically connected, and right foot plantar pressure sensors 25 are electrically connected with right foot feedback conditioning circuit 24.
The decision master controller 1 is ARM chip, and each joint control 4 of the left leg, each joint control 15 of right leg are
Dsp chip, the decision master controller 1 being installed on machine human body, corresponding to each joint electricity of the left leg in each of each joint 8 of left leg
Each joint control 4 of the left leg of machine 7, each joint interface circuit 5 of left leg, each joint drive circuit 6 of left leg, left leg photoelectric encoder
9, left leg feeds back conditioning circuit 10, each joint angles sensor 11 of left leg, and is installed on the sole of robot left foot
Left foot feeds back conditioning circuit 13, left foot plantar pressure sensors 14, and left foot plantar pressure sensors 14 include plantar pressure sensor and foot
Bottom gyroscope two parts；Corresponding to each joint motor 18 of the right leg in each of each joint 19 of right leg each joint control 15 of right leg,
Each joint interface circuit 16 of right leg, each joint drive circuit 17 of right leg, right leg photoelectric encoder 20, right leg feed back conditioning circuit
21, each joint angles sensor 22 of right leg, and be installed on the sole of robot right crus of diaphragm it is right foot feedback conditioning circuit 24,
Right foot plantar pressure sensors 25, and right sufficient plantar pressure sensors 25 include plantar pressure sensor and vola gyroscope two parts.
Each joint interface circuit 5 of the left leg, each joint interface circuit 16 of right leg mainly complete each joint control of left leg
4, level conversion between each joint drive circuit 17 of right leg, while playing each joint control of each joint control 4 of the left leg of protection, right leg
The effect of device 15 processed；
Each joint drive circuit 6 of the left leg, each joint drive circuit 17 of right leg are for driving each joint electricity of the left leg
Each joint motor 18 of machine 7, right leg, each joint control 4 of the left leg, each joint control 15 of right leg receive and come from the left leg
Photoelectric encoder 9, right leg photoelectric encoder 20 and each joint angles sensor 11 of left leg, each joint angles sensor 22 of right leg
Feedback signal, and control instruction is exported to each joint drive circuit 6 of the left leg, each joint drive circuit 17 of right leg, the left side
Leg feedback conditioning circuit 10, right leg feedback conditioning circuit 21 are for adjusting each joint angles sensor 11 of left leg, each joint of right leg
The feedback signal of angular transducer 22；
The left foot plantar pressure sensors 14, plantar pressure sensors 25 are various respectively includes plantar pressure sensor and vola for right foot
Gyroscope two parts, plantar pressure sensor are used for robot measurement motion process mesopodium bottom stress condition, and vola gyroscope is used
In robot measurement motion process mesopodium slanted floor angle；
The left foot feedback conditioning circuit 13, right foot feedback conditioning circuit 24 include pressure sensor conditioning circuit and top
Spiral shell instrument feeds back conditioning circuit, and for adjusting the feedback signal of plantar pressure sensor and vola gyroscope, the left leg gait is deposited
Reservoir 12, right leg gait memory 23 are for storing robot or so leg walking step state.
Each joint interface circuit 5 of the decision master controller 1, left leg, each joint interface circuit 16 of right leg, each joint of left leg
Each joint drive circuit 17 of driving circuit 6, right leg, each joint control 4 of left leg, each joint control 15 of right leg, left foot feedback
Conditioning circuit 13, right foot feedback conditioning circuit 24, left leg gait memory 12, right leg gait memory 23 are installed in robot
Hip joint on, be on the one hand easy for installing, another reverse side is the movement for not influencing robot lower limb joint.
It is each joint motor 7 of the left leg, the corresponding each joint 8 of left leg for being mounted on robot of each joint motor 18 of right leg, right
On each joint in each joint 19 of leg, the left leg photoelectric encoder 9, right leg photoelectric encoder 20 respectively with each joint motor of left leg
7, each 18 main shaft of joint motor of right leg is co-axially mounted, each joint angles sensor 11 of the left leg, each joint angles sensing of right leg
Device 22 is co-axially mounted with joint rotational axis.
Several pressure sensors in the left foot plantar pressure sensors 14, right sufficient plantar pressure sensors 25 are uniformly mounted on machine
On people's sole, gyrohorizon is mounted on foot plate surface, parallel with foot plate surface.
When robot ambulation works, the decision master controller 1 is first according to the anti-of foot bottom pressure sensor and gyroscope
Feedforward information carries out robot gait planning, then converts control instruction for planning path, then total by the CAN of CAN bus
Lane controller 2 is handed down to each joint control 4 of each left leg, each joint control 15 of right leg of leg.
Each joint control 15 of each joint control 4 of the left leg in the leg of robot, right leg controls each left leg of respective leg portions
Each joint motor 18 of each joint motor 7, right leg, meanwhile, corresponding left leg photoelectric encoder 9, right 20 and of leg photoelectric encoder
Each joint angles sensor 11 of left leg, each joint angles sensor 22 of right leg are by the revolving speed of the motor, position and corresponding joint angle
Degree information feeds back to the leg joint control, the leg joint control application fuzzy self-adaptive PID, is formed real
When joint angles control instruction, then by respective leg portions joint motor driving circuit drive respective leg portions joint motions.
As shown in Fig. 3, each sensor acquires corresponding information, the substantially analog voltage amount of 0~Vcc, this mould
The value of analog quantity needs the ADC acquisition by conditioning circuit ability via controller.Firstly, the analog quantity of sensor is anti-by the first order
To operational amplification circuit, adjust adjustable resistance Rf1 and resistance R ' 1 any 0~Vcc voltage can be converted into absolute value ADC can
Then voltage value is negated by the reversed operational amplification circuit in the second level and then becomes to control by the negative voltage in the voltage range of acquisition
The collectable information of voltage of device ADC processed, finally, a two-diode clamp circuit guarantees the safety of controller ADC.In this way, through
Two-stage calculation amplifying circuit and clamp circuit are crossed, the analog quantity of any 0~Vcc of sensor can be converted into being suitble to controller
The voltage signal of ADC acquisition, then controller ADC is acquired calculating, and the motor information and angle letter of robot can be obtained
Breath.
In the process of movement, the pressure of two legs and ground face contact is by left foot plantar pressure sensors 14, the right side for the robot
Plantar pressure sensor in sufficient plantar pressure sensors 25 measures, and the gradient of foot plate surface is measured by sole gyroscope, joint angles
It is measured by each joint angles sensor 11 of corresponding left leg, each joint angles sensor 22 of right leg, left each joint motor of leg
7, each joint motor 18 of right leg is measured by left leg photoelectric encoder 9, right leg photoelectric encoder 20 respectively, if it find that joint angles
Sensor is inconsistent with motor angle, then needs to carry out installation correction to the related motor of robot again.
Each joint control 15 of each joint control 4 of the left leg in leg, right leg combines the motor status information and angle of feedback
Sensor information, and Fuzzy Adaptive PID Control algorithm is used, optimization is to each joint motor 7 of each left leg, each joint electricity of right leg
The control of machine 18 enables each joint motor 7 of each left leg, each joint motor 18 of right leg accurately to control, quick response.
Claims (4)
1. a kind of control system of two leg walking robot, two legs of the two leg walking robot share 12 freedom degrees,
Every leg has 6 freedom degrees, 1 freedom of knee joint including 2 freedom degrees of ankle-joint for forward swing and side-sway, for forward swing
Degree, and for forward swing, side-sway and rotation 3 freedom degrees of hip joint, and each freedom degree corresponds to 1 joint motor；It is special
Sign is: upper and lower machine distributed control structure, a left side for decision master controller and slave computer including host computer are used in structure
Each joint control of leg, each joint control of right leg；The decision master controller is used to handle the image of imaging sensor acquisition
Information and left foot plantar pressure sensors, the acquisition of left foot plantar pressure sensors robot current kinetic situation, obtain after calculation process
The action that robot should take in next step, and pass through each joint control of the left leg of CAN controller to the slave computer of CAN bus
Each joint control of device processed, right leg sends control command；Each joint control of the left leg, each joint control supervisor of right leg
The various motor functions of the both legs of device people, function include gait storage, the control of online pose adjustment, joint motor, and except figure
All feedbacks as outside.
2. a kind of control system of two leg walking robot according to claim 1, it is characterised in that: the decision main control
Device is electrically connected with CAN controller, imaging sensor respectively, and the CAN controller is controlled with each joint of left leg respectively
Device processed, left foot feedback conditioning circuit, each joint control of right leg, right foot feedback conditioning circuit are electrically connected.
3. a kind of control system of two leg walking robot according to claim 1, it is characterised in that: left each joint of leg
Controller is electrically connected with each joint interface circuit of left leg, left leg gait memory respectively, left each joint interface circuit of leg
With each joint drive circuit of left leg, each joint motor of left leg, each joint of left leg, left leg photoelectric encoder, each joint interface of left leg
Circuit is sequentially electrically connected, and left each joint motor of leg and left leg photoelectric encoder are electrically connected, and left each joint angles of leg pass
Sensor is sequentially electrically connected with left leg feedback conditioning circuit, each joint of left leg, left foot plantar pressure sensors and left foot feedback conditioning electricity
Road is electrically connected.
4. a kind of control system of two leg walking robot according to claim 1, it is characterised in that: right each joint of leg
Controller is electrically connected with each joint interface circuit of right leg, right leg gait memory respectively, right each joint interface circuit of leg
With each joint drive circuit of right leg, each joint motor of right leg, each joint of right leg, right leg photoelectric encoder, each joint interface of right leg
Circuit is sequentially electrically connected, and right each joint motor of leg and right leg photoelectric encoder are electrically connected, and right each joint angles of leg pass
Sensor is sequentially electrically connected with right leg feedback conditioning circuit, each joint of right leg, right foot plantar pressure sensors and right foot feedback conditioning electricity
Road is electrically connected.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711283164.XA CN109895120A (en) | 2017-12-07 | 2017-12-07 | A kind of control system of two leg walking robot |
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| CN201711283164.XA CN109895120A (en) | 2017-12-07 | 2017-12-07 | A kind of control system of two leg walking robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111110411A (en) * | 2019-12-30 | 2020-05-08 | 上海理工大学 | Dynamic hip joint prosthesis control system |
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2017
- 2017-12-07 CN CN201711283164.XA patent/CN109895120A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111110411A (en) * | 2019-12-30 | 2020-05-08 | 上海理工大学 | Dynamic hip joint prosthesis control system |
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