Design and implementation of high efficiency biped robot system

摘要

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.