Guroo the Humanoid Robot

1
Joint Controller Development For A Humanoid Robot
by Simon Hall under the supervision of Dr Gordon
Wyeth

• Upgrading Guroos Joint Control Boards
• This thesis has involved the successful hardware
  and software development of a new lower limb DC
  motor controller design for Guroo. Functionality
  achieved
• CAN communication.
• Semi-Discrete H-Bridge Motor Drive.
• Current Sensing Analog to Digital Conversion.
• TPU processing PWM and Quadrature Decoding.

• The New 2003 Lower Limb DC Motor Controller
  Boards
• Enhanced features include
• More efficient semi-discrete motor driving
  circuitry design.
• Superior Motorola 68376 DSP featuring a TPU
  co-processor.
• Improved PCB layout.
• Board ID DIP switches improving portability of
  code.

Verification of functionality - successful
implementation of a PI velocity control loop on a
lower limb motor.
Guroo the Humanoid Robot An ongoing project for
UQ since 2001, Guroo has the ability to wave,
crouch, stand on one leg walk at a pace of
0.1m/s.

• Board Placement
• In Guroos Chassis
• Boards 1-5 control the 15 lower limb DC motors.
• Board 6 controls the upper 8 servo motors.

Software on the 2003 Controller Control code
required updating to suit the new Motorola
processor. The control algorithm runs at 250Hz.
PWM and Quadrature Decoding run uninterrupted on
the Timer Processor Unit(TPU).