Title: | OS12-4 Robot Structure and Motion Control Design Based on UG and Proteus |
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Publication: | ICAROB2021 |
Volume: | 26 |
Pages: | 663-666 |
ISSN: | 2188-7829 |
DOI: | 10.5954/ICAROB.2021.OS12-4 |
Author(s): | Yuhang Sheng |
Publication Date: | January 21, 2021 |
Keywords: | Biped robot, 6-degrees of freedom, Mechanical structure, Motion control |
Abstract: | The paper is to design a six-degree-of-freedom biped robot by the research on the humanoid characteristics of the biped robot. Our biped robot chooses the steering gear ASMC-03B as its power unit, we restricts the model parameters by analyzing the function relationship between the steering gear torque and the volume, and regulates the size of every parts, and create a motion analysis model. In the hardware part, Arduino UNO, which is used as the main control chip, realize the communication between the main control chip and the servo drive module PAC9685 through the IIC bus protocol, which saves the main control chip resources and ensures the execution efficiency. In the simulation part, it is to simulate the steering angle of the steering gear, and output it in the form of a waveform. |
PDF File: | https://alife-robotics.co.jp/members2021/icarob/data/html/data/OS/OS12/OS12-4.pdf |
Copyright: | © The authors. This article is distributed under the terms of the Creative Commons Attribution License 4.0, which permits non-commercial use, distribution and reproduction in any medium, provided the original work is properly cited. See for details: https://creativecommons.org/licenses/by-nc/4.0/ |
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