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Development of Hardware Platform & Software Library of Humanoid Robot

Lab: Dynamic Systems and Control Lab, Department of Power Mechanical Engineering, National Tsing Hua University, Taiwan
Mentor: Professor Ting-Jen Yeh

Attitude and angular rates are very important information for the dynamic control of humanoid robot, so every humanoid robot need to have at least one Inertial Measurement Unit (IMU) for getting attitude and angular rates. In this project I designed the 3-axis IMU for the robot. For this IMU it has a triple-axis accelerometer and 3 single-axis gyroscope as the sensors, and also has low-pass filters and 12-bit A/D converter.

In this project I was also responsible for developing the underlying driver library in C for the PIC-based controller. The main functions of this driver library include driving digital servos to control the robot mechanism, communicating with the IMU module to read acceleration and angular rates data, processing of inertial data and communicating with PC. This C library is well-encapsulated so other group members can use this library very conveniently.