엔터테인먼트용 조류형 2족 보행 로봇의 설계 및 구현

In this paper, a bird type biped robot for entertainment controlled by RIC servo motors, is built using the embedded RTOS (Real Time Operating System). μC/OS-Ⅱ V2.00 is used for RTOS and the board 80C196KC for main CPU. A control algorithm of R/C servo motors is proposed on IlCiOS-I1's preemptive and deterministic property without any extra PWM module. The realized biped robot has 19DOF, that is, 12DOF for both legs, 6DOF for both arms and lDOF for neck. To verify the proper walking process, ZMP(Zero Moment Point) theory is applied and the simulation has been done by ADAMS.