Peng Wang
ABSTRACT
Herein, a gait programming platform consisting of three parts, including overall framework construction, gait programming software design, and servo driver board design, was designed for a small humanoid soccer robot. The overall framework adopted a two-layer controller structure, with the Jetson TX2 core board serving as the upper-level controller and the self-made servo control board serving as the lower-level controller. The upper-level controller hardware runs the gait programming software server program, while the lower-level controller hardware runs the servo control program. To improve the flexibility of gait programming, the gait and motion planning of the robot were moved from the lower-level controller to the upper-level controller, with the lower-level controller only performing hardware driving and instruction forwarding. The primary function of the client-side software is gait frame programming, which involves procedures including recording the current frame, executing the previous or next frame, adding a frame, inserting a frame, deleting the current frame, resetting the current frame, and executing all frames continuously. The server-side of the software responds to the servo control commands sent by the client and sends the commands to the lower-level servo driver board through the USB interface on the core board. The servo driver board focuses solely on communication, control, and interface between the core board and the servo motors in the various joints of the robot. Finally, the effectiveness and reliability of the gait programming platform were validated through practical experiments.
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Index Terms
- Design and Implementation of the Gait Programming Platform for A Kid-Sized Humanoid Soccer Robot
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