Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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Design and Implementation of a Bird Type Biped Robot for Entertainment

엔터테인먼트용 조류형 2족 보행 로봇의 설계 및 구현

  • 김동진 (삼성전자) ;
  • 유승환 (전남대학교 대학원 기계공학과) ;
  • 신윤덕 (전남대학교 대학원 기계공학과) ;
  • 장승익 (전남대학교 대학원 기계공학과) ;
  • 기창두 (전남대학교 기계공학과)
  • Published : 2005.03.01
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Abstract

In this paper, a bird type biped robot for entertainment controlled by R/C servo motors, is built using the embedded RTOS (Real Time Operating System). ${\mu}C/OS-II$ V2.00 is used fur RTOS and the board 80C196KC for main CPU. A control algorithm of R/C servo motors is proposed on ${\mu}C/OS-II's$ preemptive and deterministic property without any extra PWM module. The realized biped robot has 19DOF, that is, 12DOF for both legs, 6DOF for both arms and 1DOF for neck. To verify the proper walking process, ZMP(Zero Moment Point) theory is applied and the simulation has been done by ADAMS.

Keywords

References

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