Abstract
This paper presents the design of the human-sized biped robot, aiRobot-HBR1 and the implementation of SOPC based motion control system. aiRobot-HBR1 is a human-size biped robot with 110 cm height, 40 Kg weight, and has a total of 12 degree of freedom (D.O.F). After trajectory planning, aiRobot-HBR1 will act according to the motions defined by the operator. Then the SOPC based motion control system is used to command the robot execute the motion trajectory. Designing the motor controller and the graphic user interface along with the NIOS FPGA, we construct a control platform for developing the control strategies of the robot based on SOPC. Finally, the experiment result indicates the validity of the proposed motion control system.
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Tzuu-Hseng S., L., Yu-Te, S., Wen-Chien, C., Jhen-Jia, H. (2010). Design and Implementation of SOPC Based Motion Control for Human-Sized Biped Robot. In: Vadakkepat, P., et al. Trends in Intelligent Robotics. FIRA 2010. Communications in Computer and Information Science, vol 103. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-15810-0_17
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DOI: https://doi.org/10.1007/978-3-642-15810-0_17
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