本文提出了一种以ARM9 为主控制器的新型的仿人机器人分布式控制系统。单片机和外部计数器组成关节控制器。主控制器和关节控制器之间采用USB 通信。从而实现了控制系统的小型化和低功耗。通过该系统控制小型仿人机器人完成了行走实验。关键词: 分布式控制系统；ARM9；仿人机器人Design of A Small Humanoid Robot Control System Zhang Zhou, Huang Qiang, Li Guangri (Department of Mechatronic Engineering, Beijing Institute of technology, Beijing, 100081) Abstract: This paper proposes a new distributed control system of humanoid robot, which consists of an ARM9 and a joint controller. One-single chip and four-CD4017IC make up the joint controller. And ARM9 communicates with joint controller by USB. Miniaturization and reduction of the power dissipation of the control system can be realized. The effectiveness of the designed controller has been confirmed by the walking experiment of our developed humanoid robot.Key words: Distributed control system; ARM9; Humanoid robot
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