科技英语presentation范例.pptx

Distributed Control System Design for Humanoid Robots
Background
Traditional robots
Humanoid robots
Contents
1. Overview of the System
2. Hardware Design
3. Software Design
Catalog
4. Experiments and Conclusions
Overview of
the System
1
1. Overview of the System
Humanoid robot motion control system structure
Hardware Design
2
2. Hardware Design
Structure of the main control layer
Computer with Windows OS: friendly man-machine interface
Computer with RT-Linux: gait planning and walking pattern control
2. Hardware Design
Structure of munication layer
ID bit
10
9-5
4-0
Function
0/1
Command/Response code(0-31)
Slave nodes address(0-9)
Allocation of 11-bit identifier of CAN frames
munication protocol
master-munication mode
bus arbitration
2. Hardware Design
Structure of the actuating layer
Intelligent module
Joint controller
Software Design
3