Title: Motion control system analysis and design for a humanoid robot

Authors: Qinjun Du; Xiang Shi; Enqing Lu; Xueyi Zhang

Addresses: School of Electrical and Electronic Engineering, Shandong University of Technology, 12 Zhangzhou Road, Shandong Zibo, 255091, China. ' School of Electrical and Electronic Engineering, Shandong University of Technology, 12 Zhangzhou Road, Shandong Zibo, 255091, China. ' School of Electrical and Electronic Engineering, Shandong University of Technology, 12 Zhangzhou Road, Shandong Zibo, 255091, China. ' School of Traffic and Vehicle Engineering, Shandong University of Technology, 12 Zhangzhou Road, Shandong Zibo, 255091, China

Abstract: A humanoid robot motion control system needs to deal with information from encoders, acceleration, force, gyro and vision sensors, etc. and needs to control more than 30 degrees of freedom (DOFs) joints motion. An effective motion control system is necessary for the humanoid robot to complete walk and manipulation. This paper discusses the motion control system architecture, hardware design and control algorithm. According to the requirements of the humanoid robot, a distributed motion control system based on controller area network (CAN) bus is used in the humanoid robot system. Analysing the motion control algorithm, we used integral separation proportional integral derivative (PID) control algorithm to guarantee the humanoid robot to move and manipulate in real-time and precisely. Experiment results show that the proposed motion control system for humanoid robot is reliable and stable, and is adaptive to deal with complex tasks in daily life.

Keywords: humanoid robots; motion control; control algorithms; robot control; robot motion; distributed control systems; controller area networks; CAN bus; PID control.

DOI: 10.1504/IJMIC.2012.048923

International Journal of Modelling, Identification and Control, 2012 Vol.17 No.2, pp.158 - 165

Published online: 17 Dec 2014 *

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