低成本类人足球机器人控制系统设计

通过分析当前类人足球机器人控制系统中CPU的优缺点，提出了一种新的低成本的类人足球机器人控制系统。该系统采用数字信号处理器（DSP）和嵌入式处理器（ARM），由DSP进行场上目标的识别和自身定位，ARM上运行Linux操作系统，完成路径规划，步态控制以及通讯等功能，充分结合了DSP的实时信号处理能力和ARM在系统控削方面的特性，合理分配任务，满足系统实时性要求。详细介绍了系统的硬件设计和软件设计。研究表明，该控制系统具有好的控制效果，有着广阔的应用前景。

Design of Low Humanoid Soccer Robot Control System

With the development of the humanoid soccer robot,a new low control system of humanoid soccer robot was proposed by analyzing the advantages and disadvantages of CPU used in the current humanoid soccer robot control system.The system is based on the digital signal processor(DSP)and the embedded microprocessor(ARM).In the system,DSP is used for the visual object detection and self-localization,while the embedded microcomputer with Linux operation system is for the path planning,gait synthesizer and wireless communication function.The system using the ability of the real-time signal processing about DSP and the characteristic of ARM on system controlling to assign the task in reason,guaranteed the real-time of the system requirements.It particularly present the designing hardware and software.Research shows that the humanoid soccer robots can achieve better control effect and it has good theory significance and application foreground.