基于双控制器的人形机器人系统

Humanoid Robot System Based on Dual Controller

针对当前人形机器人在实际生活中的应用和发展前景,设计一个软硬件高度模块化的人形机器人系统。基于嵌入式工业控制板和STM32双控制器结构有效地控制机器人执行相应的指令,同时集成在机器人上的各种传感器均能迅速反馈数据;此外机器人移植了Linux系统,同时使用ROS次级操作系统,为人形机器人搭建高效的仿真平台,优化了算法任务的运行环境。仿真数据和实验结果表明:此系统设计合理,可实现机器人高效运行。

With the development of the world industrialization,humanoid robot has attracted the attention of various industries.Aiming at the application of humanoid robot in reality,this paper designs a system scheme of humanoid robot with software and hardware.The dual controller structure based on embedded industrial control board and STM32 can well control the robot to perform the corresponding actions,and all kinds of sensors integrated in the humanoid robot can feedback the parameters correctly.In addition,this project has transplanted Linux operating system and ROS secondary operating system on the software,built humanoid robot simulation platform,and provided a good environment for the subsequent operation of complex algorithm tasks.From the experimental data,it can be seen that this scheme is reasonable and feasible,can predetermine the function,and is a relatively mature humanoid robot system.