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The Transactions P of the Korean Institute of Electrical Engineers

Korean Journal of Air-Conditioning and Refrigeration Engineering

ISO Journal TitleTrans. P of KIEE
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Title Dynamic Walking Control of Biped Walking Robot using Intelligent Control Method and Sensor Interface
Authors 고재원(Kho, Jaw-Won) ; 임동철(Lim, Dong-Cheol)
Page pp.161-167
ISSN 1229-800X
Keywords Biped Walking Robot ; Dynamic Walking ; Intelligent control ; Intelligent Sensor Interface
Abstract This paper introduces a dynamic walking control of biped walking robot using intelligent sensor interface and shows an intelligent control method for biped walking robot. For the dynamic walking control of biped walking robot, serious motion controllers are used. They are main controller(using INTEL80C296SA MPU), sub controller(using TMS320LF2406 DSP), sensor controller(using Atmega128 MPU) etc. The used sensors are gyro sensor, tilt sensor, infrared sensor, FSR sensor etc. For the feasibility of a dynamic walking control of biped walking robot, we use the biped walking robot which has twenty-five degrees of freedom(D.O.F.) in total. Our biped robot is composed of two legs of six D.O.F. each, two arms of five D.O.F. each, a waist of two D.O.F., a head of one D.O.F.