Motion Control of a Biped Robot

• Main Authors: Hung-Yu Chen, 陳宏裕
• Other Authors: Kuo-Lan Su
• Format: Others
• Language: zh-TW
• Published: 2014
• Online Access: http://ndltd.ncl.edu.tw/handle/49997195522563376991

碩士 === 國立雲林科技大學 === 電機工程系 === 102 === The thesis develops a biped robot with multiple degrees of freedom. The controller of the biped robot used STC12C5A60S2 MUC made by STC Micro Ltd. The MCU uses 10bits digital /analog converter to transfer the measurement values and use dual UART interface. The UART interface communicated with the servo motor controller board. In addition, the measurement values the accelerometer sensor MMA7361L feedback to the motion robot to detect the gesture of the robot. The motion robot can stand after falling down. I designed a motion robot with 12 degree of freedom. Choose the servo motor used the gear box to withstand greater torque. In addition, the programmed motion trajectories of the motion robot on the Human-Computer Interaction. Attempt by Human-Computer Interaction to achieve wireless remote control functions, and test the biped robot motion function.