Aimed at structure of humanoid robot and requirements for control performance, this paper designs and realizes joint controller based on CAN bus, and structures an effective credible control system by connecting all joint controllers, force sensors, task management computer and upper limbs control computer together; and realizes the transmission of audio and video information by wireless LAN; constitutes whole control system of humanoid robot. Characteristics of the system are simple structure, high reliability, good real-time, and friendly human-machine interface. This paper includes mainly: overall structure of the humanoid robot, design and implement of controller, topology of control system, and bring forward some imaginations to enhance performance of the control system
['Hua Zhong', 'Zhenwei Wu', 'Chunguang Bu']
Design and realization of control system of humanoid robot