Control system of mobile microrobot based on DSP

Abstract

The mobile microrobot has a biped structure with four joints, driven by four DC-motors. The two legs of the microrobot are supported by the electromagnetic feet that provide the robot with the ability to walk on the horizontal and vertical electromagnetic surface. DSP motor controllers provide the unique on-chip peripherals and computational power needed to implement multimotor control applications. This paper presents a detailed description of the controller design for the mobile microrobot using a single LF2407 DSP chip. Finally, the fuzzy control strategy is given.