NDLI: Design and implementation of high efficiency biped robot system

Content Provider	IEEE Xplore Digital Library
Author	Zhicheng Hou Hongshuai Chen Jianle Su Zhen Sui Xiangji Cui Yantao Tian
Copyright Year	2010
Description	Author affiliation: School of Communication Engineering; Jilin University, Changchun, China (Zhicheng Hou; Hongshuai Chen; Jianle Su; Zhen Sui; Yantao Tian) \|\| Roll Forging Research Institute, Jilin University, Changchun China (Xiangji Cui)
Abstract	This paper introduces the characteristics of the PADW-II robot's construction. PADW-II robot has an upper body which uses bisector mechanism. This structure is proved more efficient than other types of upper body. The robot can be concluded to finite state machine modal. The control system hardware is designed with ARM7-based embedded exploitation board which embedded µC/OS - II real time operating system. The control system has a hierarchical structure to improve the reliability and immunity for the system. The algorithm is also designed based on the FSM modal. To implement the algorithm, we develop the software based on µC/OS - II real time operation system, by which several different tasks are created to fulfill the states control of the robot. Some experiments have been done and the energy efficiency contrasting to some robots is given. In accordance with the characteristic of the control the conception of Under-actuated system is advanced at last.
Starting Page	2433
Ending Page	2438
File Size	442924
Page Count	6
File Format	PDF
ISBN	9781424451814
DOI	10.1109/CCDC.2010.5498809
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-05-26
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Real time systems Algorithm design and analysis FSM Software algorithms Robot control biped robot Control systems upper body Operating systems Automata Hardware Energy efficiency Immune system algorithm
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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