An Optimized Design of Humanoid Robot Distributed Control System

摘要

A distributed control system applied to small humanoid robots is designed in this paper, using ARM embedded processor and modular function approaches. The system designs plenty of hardware circuits to promote operability of system and reduce difficulties in development. This design solves the problems of high cost, low scalability, weak autonomy of small humanoid robot control system, providing a reliable experimental platform for further study. The feasibility of this control system will be verified through walking experiment of biped robot.