基于ARM嵌入式系统的拟人机器人控制器的设计  

Humanoid robot controller based on ARM embedded system

作　　者：刘森[1] 慕春棣[1] 赵明国[1] 

机构地区：[1]清华大学自动化系,北京100084

出　　处：《清华大学学报（自然科学版）》2008年第4期482-485,共4页Journal of Tsinghua University(Science and Technology)

基　　金：科技部合作重点基金项目(2005DFA10920)

摘　　要：为满足低成本、高性能的要求,提出在拟人机器人控制器的设计中引入基于ARM处理器和RTOS(Real-timeOS)的嵌入式系统。使用ARM9处理器S3C2410和RT-Linux构建小型拟人机器人控制器的系统架构,以拟人机器人的行走控制为例,从硬件和软件上介绍了控制器的实现方法。硬件选用高集成度的嵌入式处理器并采用模块化设计;软件开发中使用Petri网建模并利用Linux良好的驱动程序框架,降低了开发难度,提高了系统的可扩展性。最后给出了在机器人避障中的应用,验证了控制器方案的可行性,为拟人机器人的进一步研究提供了平台。A low cost, high performance humanoid robot controller was developed based on the ARM processor and the RTOS （real-time OS）. The controller system architecture consists of a S3C2410 chip with the ARM9 core running RT-Linux. The implementation including hardware and software is illustrated by a robot walking example. The hardware platform uses a modular design with a highly intergrated embedded CPU, A Petri net is used to model the control flow. The software is based on the Linux device driver frame with simplifies the system and improves the expansibility. The control system successfully enabled the robot to evade obstacles and provides a platform for further development of humanoid robots.

关 键 词：拟人机器人 舵机 嵌入式系统 PETRI网 设备驱动 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]