TY - GEN
T1 - FPGA-based gait control system for passive bipedal robot
AU - Jingeng, Mai
AU - Qining, Wang
AU - Long, Wang
PY - 2007
Y1 - 2007
N2 - In this paper, we present a Field Programmable Gate Array (FPGA) based high-performance gait control system for passive bipedal robots with complex mechanical structures and multiple degrees of freedoms in body and limbs. The system utilizes the hardware and software reconfigurable feature of the advanced FPGA device to achieve intelligent bipedal gait control. We implement central processing unit, sensor data processing module, gait control module, pulse width modulation module and data transmission module inside the FPGA chip. All the modules can be duplicated and reconfigured to control as many motors as needed. In addition, we design a gait control strategy with the method of phase transfer map. To estimate the control system, we create bipedal robots with passive dynamic gaits. Satisfactory experimental results demonstrate that the FPGA-based gait control system is a flexible, high-performance solution for the locomotion control of passive bipedal robots.
AB - In this paper, we present a Field Programmable Gate Array (FPGA) based high-performance gait control system for passive bipedal robots with complex mechanical structures and multiple degrees of freedoms in body and limbs. The system utilizes the hardware and software reconfigurable feature of the advanced FPGA device to achieve intelligent bipedal gait control. We implement central processing unit, sensor data processing module, gait control module, pulse width modulation module and data transmission module inside the FPGA chip. All the modules can be duplicated and reconfigured to control as many motors as needed. In addition, we design a gait control strategy with the method of phase transfer map. To estimate the control system, we create bipedal robots with passive dynamic gaits. Satisfactory experimental results demonstrate that the FPGA-based gait control system is a flexible, high-performance solution for the locomotion control of passive bipedal robots.
UR - https://www.scopus.com/pages/publications/67649729288
U2 - 10.1109/ICHR.2007.4813891
DO - 10.1109/ICHR.2007.4813891
M3 - 会议稿件
AN - SCOPUS:67649729288
SN - 9781424418626
T3 - Proceedings of the 2007 7th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS 2007
SP - 341
EP - 345
BT - Proceedings of the 2007 7th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS 2007
PB - IEEE Computer Society
T2 - 2007 7th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS 2007
Y2 - 29 November 2007 through 1 December 2007
ER -