Interfacing of biped KHR-1 with DSP board TMS320F2812


Lim, Chot Hun and Wong, Eng Kiong and Koo, Voon Chet (2006) Interfacing of biped KHR-1 with DSP board TMS320F2812. 2006 9th International Conference on Control, Automation, Robotics and Vision, 1-5. pp. 286-291.

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This paper describes the interfacing of the biped robot KHR-1 with DSP board TMS320F2812. In this study, the KHR-1 is modeled as a seven-link biped, with each joint connected with a servomotor KRS-784 ICS. The I/O port of the DSP board provides PWM signals to the biped joints for joint control. TMS320F2812 is chosen due to its high PWM resolution as well as its flexibility in PWM frequency setting. The computed joint trajectories of the biped robot are based on the Zero Moment Point (ZMP) model. Walking trajectories are constructed and tested, and the results are beneficial to both biped research as well as mechatronics education for undergraduates.

Item Type: Article
Subjects: Q Science > QA Mathematics > QA71-90 Instruments and machines > QA75.5-76.95 Electronic computers. Computer science
Divisions: Faculty of Engineering and Technology (FET)
Depositing User: Ms Rosnani Abd Wahab
Date Deposited: 21 Sep 2011 08:21
Last Modified: 04 Jan 2017 10:46


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