MOTION CONTROLLER DESIGN FOR A BIPED HUMANOID ROBOT

This paper addresses design of a motion controller for a teen sized biped robot, Archie. The main goal is to develop a motion controller for a cost oriented robot to assist human in daily life. The proposed real-time controller enables each joint individually to receive reference speed and position to provide a smooth motion. In this scheme, action commands are transmitted via Control Area Network (CAN) bus from a PC to robot. Aim of using such a communicator is to provide error process mechanism with a message priority concept. The main advantage of this method is to synchronize the motion of all joints necessary for biped walking motion. Finally test and implementation results are presented to demonstrate the good performance.