RTOS와 FPGA를 기반으로 한 소형 휴머노이드 로봇 제어기 구현

This paper deals with the implementation of a small humanoid robot controller on the basis of Real Time Operating System(RTOS) and the FPGA. This controller was adapted to the humanoid robot with 25 DOFs, which are 12 DOFs in each leg, 8 DOFs in each arm, 3 DOFs in waist, and 2 DOFs in head. The robot actuators were used DX -1l7 servo motors that have all of the controller components in one module in order to simplify the control structure. In addition, the main controller is FPGA of Virtex4-FX from Xilinx, and ported on VxWorks that is kind of RTOS. It is essential to install this RTOS on the complex control system and to do control activity at the multitasking environments. This paper suggested the method of distributing the computational load in the humanoid robot controller using the FPGA and RTOS concepts. All of the control process was verified through the real action of the humanoid.