Design of Humanoid Robot Control System Based on STM32 and Agent

摘要

In view of the problems of less control degrees of freedom, poor control ability, slow response speed, large circuit and high energy consumption in traditional humanoid robot control system, a control system based on STM32 embedded microprocessor and agent is proposed. In this control system, the real-time of the system is improved by transplanting high real-time μC/OS-II operating system into STM32 embedded microprocessor. The response speed is enhanced by adopting algorithm of fuzzy intelligent control in agent. Fuzzy tool box and Simulink are used to finish combined simulation. Simulation and experiment results have demonstrated that the proposed control system can control multi freedom degrees and has advantages of strong control ability, fast response speed, transplantable, high real-time, low power consumption, and simple circuit.