小型仿人机器人主控层软件系统框架设计

Design of Mini-Humanoid Robot Software Framwork

主控层软件是仿人机器人重要组成部分,主控层软件设计编写的优劣直接影响到仿人机器人的工作性能。在借鉴国内机器人主控层软件构架设计经验的基础上,针对仿人机器人控制系统的特点,在混合构架的设计思想基础上,采用分层模式设计仿人机器人主控层软件系统框架。该框架由三部分组成:陈述层,业务层和数据层,其中业务层作为仿人机器人软件系统的核心,采用模块化设计,使用消息作为各个模块通信协调机制,多线程多进程作为并发执行的机制,此框架具有良好的扩充性和可重用性等优点。最后在此框架基础上设计的一个具体主控层系统软件实例,在MIH-I仿人机器人上稳定运行,证明了该框架的有效性。

Master control software is an important part of Humanoid robot,which impacts the robot＇s performance greatly. According to the characters of Humanoid robot control system, a three - tier architecture is adopted to design the framework of Master Control software, which is based on the thought of hybrid architecture and uses other robot＇ s master control software as references . This framework is constituted by three parts： presentation layer ,business logic layer and storage layer. Among them , business logic layer is the most important part of Humanoid robot software system. It is designed by modules which can communicate and correspond with each other using message , and concurrently execute using multi - thread and multi - process. Finally , an example of the software has been designed and developed on the basis of the software frame presented above , and it is able to run steadily on MIH - I Humanoid robot, that verifies the usefulness of this framework.