A Small Humanoid Robot System Development

Designed and implemented the complete control system architecture for a small full-body humanoid robot, including a CAN-based distributed motor control subsystem with TI F2812 DSPs, PCB design, high-precision 6-DoF motor control, and real-time biped walking control in C/C++.

• [Journal] Design and Implementation of Motor Control System for Small Humanoid Robot (in Chinese), ZHANG Yi, LIU Cheng-gang, XING Deng-peng, COMPUTER ENGINEERING, 2009, 35(24)

Patents:

1. Electric Wire Driven Actuator for Artificial Joint, ZL200710038296.6 (Issued)
2. General Distributed Control System for Humanoid Robots, ZL200910054322.3 (Issued)
3. Distributed Dual-bus Motion Control System for Humanoid Robots, 200810038844.X (Published)