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DSP- and FPGA-Based Stair-Climbing Robot Design
2013
Mathematical Problems in Engineering
A stair-climbing robot is equipped with a grasping arm for capturing objects to provide service for the elders. A board based on a digital signal processor (DSP) plays the role of control center to manage all actions of two brushless DC motors for locomotion, two worm gears for torque magnification, and two DC motors for arms' pitching in the main body. The robot is steered by fuzzy logic control (FLC) which integrates the outputs of DC bus current sensor and an inclinometer. There is a CMOS
doi:10.1155/2013/243094
fatcat:d2mlrngi6rbztpo47fy7pz4kkq