The Research Of Control And Human Body Motion Teaching For Small Humanoid Robot

The research and application of small humanoid robot is popular in thefield of robotics research. The small humanoid robot control system has threemajor components, including robotics control theory, humanoid robot bodycontroller and programming control software. In this paper, we designed arobot control system for student-oriented small humanoid robot BIOROBO.According to the difficulty of humanoid robot motion editing, we proposed anovel method using laser depth sensor in robot motion teaching.In order to improve the real-time performance, stability and scalability ofsmall humanoid robot control system, we designed a distributed robot controlsystem in hardware. Based on STM32-core processing module, we build therobot master controller module, the sensor interface module, the accelerationsensor module and the camera module. We created a digital bus servo controlsystem and used a field programmable processor array as the core of robotmotion control module.Based on the modules, we developed softwares of embedded control systems, motion control system, USB-based communication systems andprotocool, FLASH memory operation and sound playing, sensor modulesystem. The system can achieve the motion control, sensor informationintegration and corresponding function of the small humanoid robot. We haveproved the validity and stability of our system by tests.Because of the difficulty of small humanoid robot motion teaching and thecomplexity of procedures, we proposed a method based on the laser depthsensor. According to human body action, we mapped the body joint angle to therobot joint angle. After DOF cutting and velocity-based selective mean filter,the users can teach robot by their body motions. We also introduced thecollision detection to improve the safety of robot teaching. After a period of usein many areas, the experiments of small humanoid robot BIOROBO has gotsatisfactory results.