Application of distributed power in humanoid robot control system

ZHONG Zao-sheng; XUE Fang-zheng; JING Cheng-lin

doi:10.13873/j.1000-97872011.02.033

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Application of distributed power in humanoid robot control system

更新时间：2025-09-11

- Application of distributed power in humanoid robot control system
- Vol. 30, Issue 2, Pages: 139-141(2011)
- 作者机构：
  
  重庆大学智能自动化研究所
- 作者简介：
- 基金信息：
- DOI：10.13873/j.1000-97872011.02.033
  CLC： TP242.2
- Published：2011
- 稿件说明：
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[1]钟灶生,薛方正,敬成林.分布式电源在仿人机器人控制系统中的应用[J].传感器与微系统,2011,30(02):139-141.

ZHONG Zao-sheng, XUE Fang-zheng, JING Cheng-lin. Application of distributed power in humanoid robot control system[J]. 2011, 30(2): 139-141.
[1]钟灶生,薛方正,敬成林.分布式电源在仿人机器人控制系统中的应用[J].传感器与微系统,2011,30(02):139-141. DOI： 10.13873/j.1000-97872011.02.033.

ZHONG Zao-sheng, XUE Fang-zheng, JING Cheng-lin. Application of distributed power in humanoid robot control system[J]. 2011, 30(2): 139-141. DOI： 10.13873/j.1000-97872011.02.033.

摘要

为实现仿人机器人无缆工作的时间更长

设计了采用分布式电源的控制系统。仿人机器人关节电机驱动器采用动力电和数字电分开供电的方式

动力电主要为电机供电

而数字电主要为控制芯片供电

因而采用分布式电源方案

即由一个电池组对多个关节驱动器的数字电部分供电

而对单个关节驱动器的动力电部分由一个电池组供电。该方案在搭建的多电机控制系统中验证了其可行性

为仿人机器人无缆工作的时间更长提供了一种可能。

Abstract

To realize long work hours of a humanoid robot without cable

a control system using distributed power is designed.Humanoid robot joint motor drives with separate power supply of dynamic power and digital way.Dynamic power mainly supply for motor

while the digital power mainly supply for the control chip.So that the control system use distributed power scheme

that is to say

a battery pack supply for a number of digital electric part of joint drive

while dynamic electric of each joint drive is supplied by a single battery pack.The feasibility of this method is verified in multi-motor control system.It becomes possible to work long time for humanoid robot.

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references

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类人机器人研究现状和展望 [J]. 满翠华,范迅,张华,刘晓萌. 农业机械学报 . 2006(09)

日本拟人型两足步行机器人研发状况及我见 [J]. 宗光华,唐伯雁. 机器人 . 2002(06)

仿人机器人的研究历史、现状及展望 [J]. 谢涛,徐建峰,张永学,强文义. 机器人 . 2002(04)

仿人机器人底层控制器设计与运动综合调试 [D]. 宋金泽. 国防科学技术大学 2003

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