| 基于CPG的六足步行机器人运动控制系统研究 |
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| 引用本文： | 王绍治,郭伟,于海涛,李满天.基于CPG的六足步行机器人运动控制系统研究[J].机械与电子,2010(8):65-68. |
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| 作者姓名： | 王绍治 郭伟 于海涛 李满天 |
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| 作者单位： | 哈尔滨工业大学机器人技术与系统国家重点实验室,黑龙江,哈尔滨,150080 |
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| 基金项目： | 国家"八六三"计划资助项目 |
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| 摘 要： | 根据CPG双层网络的特点,采用分层分布式系统架构研究制了一种机器人运动控制系统.其基于FPGA的星型总线,在保证通信速率的同时提高了系统抗干扰能力.在单足控制器中嵌入双NIOS完成CPG网络解算和电机运动控制.FPGA的灵活使用和外部3-H桥驱动的搭建,可以使单足控制器同时控制3个无刷电机并获得最小的体积.
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| 关 键 词： | 六足步行机器人 运动控制系统 FP-GA CPG网络 |
Study on Motion Control System of a Six-legged Walking Robot Based on CPG |
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| WANG Shao-zhi,GUO Wei,YU Hai-tao,LI Man-tian.Study on Motion Control System of a Six-legged Walking Robot Based on CPG[J].Machinery & Electronics,2010(8):65-68. |
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| Authors: | WANG Shao-zhi GUO Wei YU Hai-tao LI Man-tian |
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| Affiliation: | (State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin 150080,China) |
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| Abstract: | A kind of robot motion control system was designed.According to the characteristics of the CPG double network,a layered distributed system framework was used.The star bus based on FPGA can ensure the rate of communication and improve the anti-interference capability of the system.Two NIOS cores embedded in the single legged controller can complete network solutions and motor control.The flexible use of FPGA and external 3-H bridge make the single leg controller could control three brushless motors simultaneously while obtain minimum volume. |
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| Keywords: | FP-GA |
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