Retport_final_vision—双足机器人—刘贤钊_李丹红_向莉华.docVIP

Humanoid Robot Member: 刘贤钊 李丹洪 向莉华 1. Humanoid and target Humanoid is a kind of robot which can act like human in some way. For example, some humanoids can talk to people, some can take care the patient. The humanoid is developed to meet the requirement of working in dangerous place, finish some physical strength job or else. Our work is to control a humanoid, to make it do what we want. The humanoid robot we use is a robot as shown in figure 1 Figure 1 Humanoid and its joints The humanoid we used has 18 steering motors, 16 of them are use to control arms and legs, the left 2 steering motors are use for control head and neck. We only control the 16 steering motors on arms and legs. The steering motors we used in the humanoid are HSR-8498HB DIGITAL ROBOT SERVO. Their stall torque is 7.4kg.cm. This torque is enough for the humanoid to do some middle load motion. Figure 2 Steering motor Figure 3 PWM of steering motor There are three wires of the steering motors (Figure 2). They’re VCC, GND, and signal. The steering motors use pulse width control (Figure 3). So we find out the pulse width range of them first. We also find out the pulse width need to keep the humanoid stand still. Right Left Smallest Biggest Stand Smallest Biggest Stand Shoulder 1 0.6 2.4 1.5 Shoulder 1 0.6 2.4 1.5 Shoulder 2 0.6 2.4 2.4 Shoulder 2 0.4 2.2 2.2 Elbow 0.6 2.4 1.5 Elbow 0.6 2.4 1.5 Hip 1 1.0 2.4 1.5 Hip 1 0.6 1.5 1.5 Hip 2 0.9 2.4 1.8 Hip 2 0.6 2.0 1.2 Knee 1 0.8 2.4 2.3 Knee 1 0.9 2.2 1.1 Knee 2 0.6 2.1 1.1 Knee 2 0.9 2.4 2.0 Ankle 1.4 2.0 1.5 Ankle 1.0 1.7 1.5 Table 1 Pulse width of steering motors (unit: ms) 2. Hardware design and making As the structure of humanoid is ready, we only need to design the controlling PCB card. We choose the Atmel-Mega128 as the processor and design a PCB. Requirements: 1. Contain a minimum system to enable the core (Atmel-Mega128). 2. Contain 16 I/O with power source, so that it can