| Summary: | 碩士 === 國立臺灣科技大學 === 電機工程系 === 102 === ABSTRACT
This paper proposes an embedded locomotion controller for an adult-size humanoid robot. A real-time embedded Linux operating system is used to a locomotion controller and a computer visual navigation base on XScale PXA270 and DM3730 platform. The locomotion controller includes locomotion trajectory planning based on Linear-Inverted Pendulum Model (LIPM) and Inverse Kinematics (IK). An omnidirectional locomotion controller is further implemented by using foot placement planning. The computer visual system integrates autonomous obstacle avoidance navigation and a graphic interface to monitor real-time visual feedback and locomotion.
Based on the proposed system architecture, two embedded systems individually process image processing, decision making and locomotion control. DM3730 deals with autonomous obstacle avoidance navigation and sends commands to PXA270 via Universal Asynchronous Receiver / Transmitter (UART). The humanoid robot locomotion control and IK are implemented on PXA270 as a device driver in the kernel space. The multi-core structure runs multiple tasks which increase overall speed for programs. To the proposed obstacle avoidance navigation system, sector scanning algorism and the decision tree are applied to accomplish obstacle recognition and autonomous navigation. Finally, the experiments follow the rules of obstacle run challenge specified in the HuroCup league of the Federation of International Robot-soccer Association (FIRA) to evaluate the performance of the proposed system.
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