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2011 Second International Conference on Digital Manufacturing & Automation
Design of the Control System for a Hexapod Walking Robot
Zhangjiajie, Hunan China
August 05-August 07
ISBN: 978-0-7695-4455-7
| ASCII Text | x | ||
| Bo Jin, Li-jun Zhao, Jia-Lin Zhang, Cheng Chen, Sha Hu, "Design of the Control System for a Hexapod Walking Robot," 2012 Third International Conference on Digital Manufacturing & Automation, pp. 401-404, 2011 Second International Conference on Digital Manufacturing & Automation, 2011. | |||
| BibTex | x | ||
| @article{ 10.1109/ICDMA.2011.105, author = {Bo Jin and Li-jun Zhao and Jia-Lin Zhang and Cheng Chen and Sha Hu}, title = {Design of the Control System for a Hexapod Walking Robot}, journal ={2012 Third International Conference on Digital Manufacturing & Automation}, volume = {0}, year = {2011}, isbn = {978-0-7695-4455-7}, pages = {401-404}, doi = {http://doi.ieeecomputersociety.org/10.1109/ICDMA.2011.105}, publisher = {IEEE Computer Society}, address = {Los Alamitos, CA, USA}, } | |||
| RefWorks Procite/RefMan/Endnote | x | ||
| TY - CONF JO - 2012 Third International Conference on Digital Manufacturing & Automation TI - Design of the Control System for a Hexapod Walking Robot SN - 978-0-7695-4455-7 SP401 EP404 A1 - Bo Jin, A1 - Li-jun Zhao, A1 - Jia-Lin Zhang, A1 - Cheng Chen, A1 - Sha Hu, PY - 2011 KW - hexapod walking robot KW - control system KW - joint trajectory planning KW - ARM7 controller VL - 0 JA - 2012 Third International Conference on Digital Manufacturing & Automation ER - | |||
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.
Index Terms:
hexapod walking robot, control system, joint trajectory planning, ARM7 controller
Citation:
Bo Jin, Li-jun Zhao, Jia-Lin Zhang, Cheng Chen, Sha Hu, "Design of the Control System for a Hexapod Walking Robot," icdma, pp.401-404, 2011 Second International Conference on Digital Manufacturing & Automation, 2011
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