FPGA based synchronous multi-channel PWM generator for humanoid robot

In this paper, synchronous multi-channel pulse width modulation (PWM) generator for driving servo motors of humanoid robot was proposed. In an application, the humanoid robot requires smooth and beautiful movement, therefore the PWM signal for each servo motor must be synchronized. Since microcontroller (slave) has no enough channels to generate synchronous PWMs for 32 servo motors, field programmable gate array (FPGA) was used as slave for the humanoid robot. The FPGA was controlled by microcontroller (master) using serial communication. Simulation results show the system can perform serial communication, synchronize, and convert data well. The system can also generate PWM simultaneously with accurate duty cycle and fix period of 20ms

SiREM : sistema robótico para entrenamiento de memoria

En este trabajo se propone un sistema robótico que pueda interactuar con niños y/o jóvenes para evaluar y entrenar la MO. El documento se estructura de la siguiente forma: Marco conceptual, en el cual se exponen trabajos relacionados con la MO, robótica educacional y juegos ajustables. Especificaciones, en el cual se expone el sistema propuesto y sus componentes generales. Implementación, aquí se muestra las decisiones tomadas y desarrollos realizados tanto en software como hardware. Pruebas y resultados, aquí se presentan los resultados finales del sistema y un análisis del impacto del sistema comparado con el juego clásico en computador basado en N-Back. Finalmente, pero no menos importante, se presentan las conclusiones del trabajo y posibles trabajos futuros.A robotic system was proposed to give a novel way to train the WM; expecting a better result than classic video games to improve students’ cognitive abilities. It consists in a robotic platform controlled by an artificial intelligence to develop a memory trainer game. The userrobot interaction is between external devices which are able to sense and give feedback during the training. All this to give a personalized gaming experience to the users. The remainder of this paper is organized as follows: Section II shows a brief review of the related work. Section III introduces the proposed system. Section IV presents the methodology of the proposed framework. Section V presents the experimental setup and results. Finally, Section VI concludes this paper and discusses future work.Magíster en Ingeniería ElectrónicaMaestrí