Humanoid robot controller based on ARM embedded system

摘要

A low cost,high performance humanoid robot controller was developed based on the ARM processor and the RTOS(real-time OS).The controller system architecture consists of a S3C2410 chip with the ARM9 core running RT-Linux.The implementation including hardware and software is illustrated by a robot walking example.The hardware platform uses a modular design with a highly intergrated embedded CPU.A Petri net is used to model the control flow.The software is based on the Linux device driver frame with simplifies the system and improves the expansibility.The control system successfully enabled the robot to evade obstacles and provides a platform for further development of humanoid robots.