小型仿人机器人主控层软件系统框架设计

主控层软件是仿人机器人重要组成部分,主控层软件设计编写的优劣直接影响到仿人机器人的工作性能.在借鉴国内机器人主控层软件构架设计经验的基础上,针对仿人机器人控制系统的特点,在混合构架的设计思想基础上,采用分层模式设计仿人机器人主控层软件系统框架.该框架由三部分组成:陈述层,业务层和数据层,其中业务层作为仿人机器人软件系统的核心,采用模块化设计,使用消息作为各个模块通信协调机制,多线程多进程作为并发执行的机制,此框架具有良好的扩充性和可重用性等优点.最后在此框架基础上设计的一个具体主控层系统软件实例,在MIH-Ⅰ仿人机器人上稳定运行,证明了该框架的有效性.

Design of Mini- Humanoid Robot Software Framwork

Master control software is an important part of Humanoid robot,which impacts the robot's performance greatly.According to the characters of Humanoid robot control system,a three-tier architecture is adopted to design the framework of Master Control software,which is based on the thought of hybrid architecture and uses other robot's master control software as references.This framework is constituted by three parts: presentation layer,business logic layer and storage layer.Among them,business logic layer is the most important part of Humanoid robot software system.It is designed by modules which can communicate and correspond with each other using message,and concurrently execute using multi-thread and multi-process.Finally,an example of the software has been designed and developed on the basis of the software frame presented above,and it is able to run steadily on MIH-I Humanoid robot,that verifies the usefulness of this framework.