Interfacing of biped KHR-1 with DSP board TMS320F2812
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. TMS3...
| Main Authors: | , , |
|---|---|
| Format: | Article |
| Published: |
2006
|
| Subjects: | |
| Online Access: | http://shdl.mmu.edu.my/2120/ |
| _version_ | 1848789969035853824 |
|---|---|
| author | Lim, Chot Hun Wong, Eng Kiong Koo, Voon Chet |
| author_facet | Lim, Chot Hun Wong, Eng Kiong Koo, Voon Chet |
| author_sort | Lim, Chot Hun |
| building | MMU Institutional Repository |
| collection | Online Access |
| description | 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. |
| first_indexed | 2025-11-14T18:05:09Z |
| format | Article |
| id | mmu-2120 |
| institution | Multimedia University |
| institution_category | Local University |
| last_indexed | 2025-11-14T18:05:09Z |
| publishDate | 2006 |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | mmu-21202017-01-04T10:46:26Z http://shdl.mmu.edu.my/2120/ Interfacing of biped KHR-1 with DSP board TMS320F2812 Lim, Chot Hun Wong, Eng Kiong Koo, Voon Chet QA75.5-76.95 Electronic computers. Computer science 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. 2006 Article NonPeerReviewed 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. |
| spellingShingle | QA75.5-76.95 Electronic computers. Computer science Lim, Chot Hun Wong, Eng Kiong Koo, Voon Chet Interfacing of biped KHR-1 with DSP board TMS320F2812 |
| title | Interfacing of biped KHR-1 with DSP board TMS320F2812 |
| title_full | Interfacing of biped KHR-1 with DSP board TMS320F2812 |
| title_fullStr | Interfacing of biped KHR-1 with DSP board TMS320F2812 |
| title_full_unstemmed | Interfacing of biped KHR-1 with DSP board TMS320F2812 |
| title_short | Interfacing of biped KHR-1 with DSP board TMS320F2812 |
| title_sort | interfacing of biped khr-1 with dsp board tms320f2812 |
| topic | QA75.5-76.95 Electronic computers. Computer science |
| url | http://shdl.mmu.edu.my/2120/ |