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Step 2Electronics
Two types of ATMEL AVR controllers are used in the actual version, one mega8 as master and three tiny26 for servo-controlling, force-sensing resistor measurement and TFB-feedback. The master handles the data-transfer for each µC via I2C bus and the communication to the PC is realized as simple RS232 communication.
The "torque" feedback measurement samples the internal control signal of the servo motors and delivers information of the load to keep the desired position.
With the four FSR's on each footplate it is possible to measure if the robot is still in balance while standing on one foot. If the center of gravity is within the footplate the robot is stable.
All sensor data is visualized in the software.
The "torque" feedback measurement samples the internal control signal of the servo motors and delivers information of the load to keep the desired position.
With the four FSR's on each footplate it is possible to measure if the robot is still in balance while standing on one foot. If the center of gravity is within the footplate the robot is stable.
All sensor data is visualized in the software.
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Mar 25, 2012. 4:32 PMashraf mansour
says:
yes schematic please
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Oct 7, 2008. 3:57 PMthomasfromla
says:
Schematic?
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