CN101398687A - Information treating platform of small-sized both feet robot - Google Patents

Abstract

Translated fromChinese

本发明提出一种双足机器人的信息处理平台，涉及一种人工智能技术，在机器人有限的空间、有限资源上融合更多适合机器人的信息处理技术。平台包括：机器人控制器硬件、通信协议、控制系统软件。机器人控制器以舵机控制模块为核心，无线通讯模块、有线通讯模块、数据存储模块和电源模块分别与舵机控制模块相连，由电源模块向上述各模块提供稳定电压。PC机将数据通过带有通信协议的有线通信模块或无线通信模块传输到该信息处理平台上，经过控制器处理后，将数据存储到数据存储模块，供以后读取调用。本信息处理平台可作为舵机控制的通用平台，不仅能在仿人机器人上使用，还可用于控制其他机器人的关节、机械手、机器鱼等以三线舵机作为关节的机构。

The invention proposes an information processing platform for a biped robot, which relates to an artificial intelligence technology, and integrates more information processing technologies suitable for the robot on the limited space and limited resources of the robot. The platform includes: robot controller hardware, communication protocol, and control system software. The robot controller takes the steering gear control module as the core, and the wireless communication module, wired communication module, data storage module and power supply module are respectively connected with the steering gear control module, and the power supply module provides stable voltage to the above modules. The PC transmits the data to the information processing platform through a wired communication module or a wireless communication module with a communication protocol. After being processed by the controller, the data is stored in the data storage module for later reading and calling. This information processing platform can be used as a general platform for steering gear control. It can not only be used on humanoid robots, but also can be used to control the joints of other robots, manipulators, robotic fish and other mechanisms that use three-wire steering gears as joints.

Description

A kind of information processing platform of minitype biped robot

Technical field

The present invention relates to a kind of artificial intelligence technology, relate in particular to a kind of information processing platform of minitype biped robot.

Background technology

Along with the development of infotech, infotech is applied to all trades and professions widely, and it is just changing people's working and life style.Anthropomorphic robot is an intelligent equipment that integrates physical construction, motor manufacturing technology, sensing technology, snap information treatment technology, Flame Image Process and recognition technology, control technology and the communication technology etc., also be that intelligent degree is the highest in the robot, the maximum a kind of robot of research difficult point, it is except having human basic macroscopic features and walking movement function, also have perception intelligence such as vision, the sense of hearing, can autokinetic movement in certain environment, and carry out exchanging to a certain degree with the people.Anthropomorphic robot occupies special status in robot research, various countries educational circles of robot is all endeavouring the research and development of this respect, and Chinese colleges and universities also pay close attention to always and follow the tracks of the progress of developed country's association area.

In recent years, research institution has developed the anthropomorphic robot that oneself differs from one another, the more representative WABIAN series that the Waseda University is arranged, the ASIMO of Honda company, the SDR-4X of Sony, the KHR series of Korea S etc. one after another both at home and abroad.It is exactly that cost is high that but these anthropomorphic robots have a common shortcoming, and the price of ASIMO has allegedly surpassed Gran turismo.High cost makes manyly hangs back to the interested researcher of anthropomorphic robot, and the input that lacks new research effort also makes the research of anthropomorphic robot make slow progress always.Develop a with low costly, can satisfy the anthropomorphic robot of scientific research requirement again, then not only can satisfy vast anthropomorphic robot fan's needs, can promote the research of anthropomorphic robot again to a certain extent.

Summary of the invention

Under this background, utilize this platform of anthropomorphic robot, the information processing technology that the research information field is relevant also gets up to control anthropomorphic robot with the partial information technological incorporation simultaneously, improves the intelligent level of anthropomorphic robot.The objective of the invention is on the robot processing platform, merge the more information technology, attempt, on the limited resources of the limited space of robot, controller, seek the information processing technology that is fit to anthropomorphic robot by different experiments.

The technical solution adopted for the present invention to solve the technical problems is:

A kind of biped robot's the information processing platform comprises: the design of the hardware design of robot controller, robot communication agreement, the software design of control system.

The hardware design of robot controller comprises: the design of the design of power module, the design of data communication module, data memory module and the design of steering wheel control module.

Wherein the steering wheel control module is the core of robot controller, determined the performance quality of total system, it mainly acts on is exactly synchronously to produce the multi-channel PWM waveform in real time to come the drive machines person joint, this module is made up of the PIC16F877 microcontroller, realizes that control algolithm, slave computer are coordinated and the generation of multichannel steering wheel control signal.Wireless communication module, wire communication module and behavioral data memory module link to each other with the PIC16F877 microcontroller respectively.Controller is supported wire communication and two kinds of patterns of radio communication simultaneously, selects to get final product by the communication pattern switch, and the data of PC calculated off-line can be transferred on the robot information processing platform by wire module and wireless module are arranged.Wireless communication module is made up of nRF905 radio frequency chip and STC4051AD microcontroller, makes the upper and lower machine carry out data interaction by radio frequency (RF); The wire communication module is realized by the SP3232 level transferring chip, makes the upper and lower machine carry out data interaction by the RS232 bus; The behavioral data memory module is made up of the serial EEPROM of iic bus, selects for use AT24C512 to come the storage action data as outer extension memory, and there is 64K byte (65536 s') storage space its inside.In order to reduce the unnecessary traffic, a part of behavioral data can be stored in advance in the behavioral data module of robot controller during control robot, the steering wheel control module can be carried out read-write operation to it by iic bus; Power module provides stable voltage by linking to each other with the PIC16F877 microcontroller to above-mentioned each module.

The design of robot communication agreement comprises: host computer sends agreement and slave computer feedback protocols, and these two kinds of agreements all adopt the form of fixed length, and every frame data are 26 bytes.

It is data packet head (2 byte)+bag content (23 byte)+verification and (1 byte) that host computer sends data layout.The beginning of data packet head sign one bag data is made up of two bytes, and first byte is 0xFF, and second byte is 0xFE; The bag content is that host computer sends information to steering engine controller, and bag content implication is (separating by byte): controller address sign indicating number (1^-252)+control command+data group number (0^-255)+data frame number (0^-255)+maximum frame number (0^-255)+velocity information (0^-7)+expected angle (0 of x road steering wheel^-180).The control address sign indicating number is represented ID number of robot, and the robot of ID number coupling receives and deal with data, and arranging ID simultaneously and be at 127 o'clock is the broadcast address sign indicating number, and all robots all receive data or order; The mode of verification and employing " and verification ", with one 8 unsigned number, to data packet header, each byte addition summation of bag content is not considered to overflow, then to get complement code (with numeral 0 deduct this with) get final product.

The slave computer feedback protocols is the same substantially with the form that host computer sends protocol code, and different is bag content difference: controller address sign indicating number (1^-252)+data label+data group number (0^-255)+data frame number (0^-255)+maximum frame number (0^-255)+velocity information (0^-7)+expected angle (0 of x road steering wheel^-180).

The software design of control system comprises: the control of multichannel steering wheel, signal procedure design and data memory module program design.

The method that platform adopts single-chip microcomputer regularly to interrupt produces PPM (Pulse Position Modulation) signal controlling steering wheel.By steering wheel being carried out speed control and synchro control and adopting serial and parallel hybrid processing, utilize timer to interrupt producing the PPM signal and realize the control of multichannel steering wheel; Drive the software of nrf905 and under standby mode, dispose its internal register, adopt the UART serial ports to carry out wire communication or radio communication, if single-chip microcomputer does not have the SPI mouth can use software simulation under software by the SPI interface communication.Data memory module is selected the AT24C512 storer that has the IIC interface for use, AT24C512 has 65535 bytes, according to 19 bytes of every frame data (effective information 18 bytes+verification and 1 byte), stipulate that each distinguishes multipotency and store 128 frames, then a slice AT24C512 can divide 27 districts and store data.

Beneficial effect based on biped robot's information processing platform of the present invention is that the software of the information processing platform has adopted the format program of embedded software, is divided into Drive Layer, configuration layer, key-course and dispatch interface layer.Can increase the type of steering wheel, the parameter of modification steering wheel at configuration layer; Can be according to hardware circuit board actual hardware structural modification program parameter etc., thereby this information processing platform can be used as the general-purpose platform of steering wheel control, not only can on anthropomorphic robot, use, can also be used to control the other machines people joint, mechanical arm, machine fish etc. all with the mechanism of three-way steering wheel as the joint.

Description of drawings

Fig. 1 is the hardware structure diagram of biped robot's platform control system of the embodiment of the invention.

Fig. 2 is the power module circuitry schematic diagram.

Fig. 3 is steering wheel control algolithm module principle figure.

Fig. 4 is the generation program flow diagram of PPM signal

Fig. 5 is the modular structure figure of biped robot's platform controller of the embodiment of the invention.

Embodiment

The present invention is further described below in conjunction with drawings and Examples.

One, the hardware design of robot controller

As shown in Figure 1, the hardware components of robot controller mainly comprises four module: transceiver communication module, steering wheel control module and data memory module, power module, wherein the steering wheel control module is the core of robot controller, determined the performance quality of total system, its main effect is exactly synchronously to produce the multi-channel PWM waveform in real time to come the drive machines person joint.

As shown in Figure 1, this controller adopts multistage distribution control method, is divided into upper and lower two-layer control, and function is respectively:

The upper strata: PC, finish the calculated off-line and the adjustment of robot behavior data, by wired or wireless network control with coordinate the action behavior of each robot, and can by robot with sensor obtain environmental information.

Lower floor: realize control algolithm, the coordinated movement of various economic factors of control multichannel steering wheel.The control corresponding system module can be divided into following content:

Power module: provide stable voltage to each module of lower computer system.

Algorithm, motor control module: form by the PIC16F877 microcontroller.Realize that control algolithm, slave computer are coordinated and the generation of multichannel steering wheel control signal.

Wireless communication module: form by nRF905 radio frequency chip and STC4051AD microcontroller.Realize that the upper and lower machine carries out data interaction by radio frequency (RF)

Wire communication module: realize by the SP3232 level transferring chip.Realize that the upper and lower machine carries out data interaction by the RS232 bus.

The behavioral data memory module: the serial EEPROM (24C512) by iic bus is formed.PIC16F877 carries out read-write operation by iic bus to it.

1, the design of power module

As shown in Figure 2; power module in the robot information processing platform controller of the embodiment of the invention; adopting rated voltage is 7.4V and the lithium polymer battery that has holding circuit, and the ability that sparks is strong, discharge current is big, provides stable voltage to each module of lower computer system.When a plurality of steering wheels were worked, electric current was very big in the circuit, and cell voltage will soon drop to about 6.5V, and in order to make circuit working at wide-voltage range, system all selects the chip of 3.3V power supply for use, and this just needs to use the voltage stabilizing chip to export 3.3V.In order to prevent that the battery reversal connection from causing damage to circuit, sealed in diode D1.U1 provides stable 3.3V operating voltage for the mu balanced circuit LM1117 of low pressure reduction to control system.U6 is another sheet LM1117, and the burning voltage of 5V is provided, so that the control line of steering wheel can also satisfy the demand of stable level when large power supply ripple very, thereby suppresses the jitter problem that steering wheel produces.

2, the design of data communication module

Because the action data of robot comes from PC, therefore need to use the communication technology that data are sent on robot hardware's controller.The biped robot has nearly 24 joints, and each frame data is minimum as to comprise 24 angle information values like this, belongs to long frame traffic.In more several bus communications, adopt the RS-232 bus the most suitable as communicating between PC and robot controller, reason is as follows:

(1) system resource is limit: PC generally all has serial ports, does not have direct IIC interface or CAN interface, uses RS-232 the most convenient, also saves most system cost;

(2) traffic rate: the traffic rate of RS-232 is minimum in several buses, what PC was passed to robot is action data, be that off line passes on the robot control panel, the synchronous driving data, but relatively and robot steering wheel working time also be very fast, so not high to required communication rate;

(3) frame information: because the byte that every frame comprises is a lot, the CAN bus is a kind of short frame traffic, and every frame transmits the data of 8 bytes at most, needs several frames to transmit, and receiving end deals with the comparison difficulty.

(4) transmission range: the transmission range of RS232 bus is longer than iic bus transmission range.

In order to debug conveniently, robot controller is supported wire communication and two kinds of patterns of radio communication simultaneously, selects to get final product by switch.Wireline side adopts the RS232 serial communication, wireless communication section is to have increased radio receiving transmitting module on the basis of wire communication part, be radio-frequency communication module NRF905, radio receiving transmitting module is that the wireless communication module in the slave computer is come out separately, add that RS232 level transferring chip and low pressure reduction voltage stabilizing chip (LDO) constitute, transmitter is given circuit supply by get 5V voltage from the USB mouth of PC, and three pins of RS232 are received on the transmitter by three pins of earphone cord.

3, the design of data memory module

The behavioral data of robot is calculated off-line and manual fine-tuning generation in host computer, host computer is to ROBOT CONTROL the time, in order to reduce the unnecessary traffic, a part of behavioral data can be stored in the behavioral data module of robot controller in advance.The behavioral data memory module of the embodiment of the invention: the serial EEPROM by iic bus is formed, and promptly selects for use AT24C512 to come the storage action data as outer extension memory, and there is 64K byte (65536 s') storage space its inside.The behavioral data of robot is calculated off-line and manual fine-tuning generation in host computer, in order to reduce the unnecessary traffic, a part of behavioral data can be stored in the behavioral data module of robot controller in advance during the PC control robot.The steering wheel control module can be carried out read-write operation to it by iic bus.

4, the design of steering wheel control module

As shown in Figure 3, the steering wheel control module is the minimum system of microcontroller, comprises master controller PIC16F877, electrify restoration circuit, oscillatory circuit, status indicator lamp.This steering wheel control module is based on master controller PIC16F877, electrify restoration circuit, and oscillatory circuit, status indicator lamp connect respectively and master controller, and electrify restoration circuit links to each other with master controller PIC16F877 pin one (nRST); The pin one of oscillatory circuit DEBUG chip is connected in master controller PIC16F877 pin one (nRST), andpin 4,5,6 is connected with pin 40 (RB7), 39 (RB6), 36 (RB3) of master controller PIC16F877 respectively; Status indicator lamp connects the pin 6 (LED) of master controller PIC16F877.The PIC single-chip microcomputer has also designed its unique on-line debugging and system from programming interface, is convenient to the debugging and the upgrade maintenance of program.The battery voltage sampling circuit that utilizes interior analog to digital conversion circuit (ADC) of sheet and resistance R 51 and R54 to constitute is realized the under-voltage protection to battery.

For compatible mutually with wireless module, the supply voltage that slave computer adopts is 3.3 volts, and the signal voltage of steering wheel then requires to more than the 5V, and this relates to mixed signal circuit and handles.If directly the port of PIC16F877 is linked on the signal wire of steering wheel, will be very dangerous.Because what this microcontroller adopted is CMOS technology, if its port voltage than its chip power voltage (3.3V) height, then chip can produce the distinctive electric current of CMOS chip " breech lock " effect, causes the electric current of chip sharply to increase, at last chip overheating and burning.

Mixed signal handle can application specific chip, as 74LVC245, realize the signal compatibility of 3.3V and 5V.But the invention belongs to the application scenario of low speed signal, can realize the processing of mixed signal circuit with the form of electric resistance partial pressure.

Two, the design of robot communication agreement

The communications portion of this information processing platform comprises the two large divisions: host computer (PC) sends agreement and robot control panel feedback protocols, and these two kinds of agreements all adopt the form of fixed length, and every frame data are 26 bytes.

1, host computer sends agreement

Host computer sends data layout: data packet head (2 byte)+bag content (23 byte)+verification and (1 byte).

(1) data packet head

The beginning of sign one bag data is made up of two bytes, and first byte is 0xFF, and second byte is 0xFE.

(2) bag content

Host computer sends information to steering engine controller, and bag content implication is (separating by byte): controller address sign indicating number (1^-252)+control command+data group number (0^-255)+data frame number (0^-255)+maximum frame number (0^-255)+velocity information (0^-7)+expected angle (0 of x road steering wheel^-180).The control address sign indicating number is represented ID number of robot, and the robot of ID number coupling receives and deal with data, and arranging ID simultaneously and be at 127 o'clock is the broadcast address sign indicating number, and all robots all receive data or order.

(3) verification and

Adopt the mode of " and verification ", specific practice is, with one 8 unsigned number, to data packet header, each byte addition summation (need not consider to overflow) of bag content, then to get complement code (with numeral 0 deduct this with), can generate verification with.

2, slave computer feedback protocols

The form that slave computer feedback protocols and host computer send protocol code is the same substantially, also is by data packet head+bag content+verification and constitutes.Different is bag content difference:

Controller address sign indicating number (1^-252)+data label+data group number (0^-255)+data frame number (0^-255)+maximum frame number (0^-255)+velocity information (0^-7)+expected angle (0 of x road steering wheel^-180).

Three, the software design of control system

The method that this platform adopts single-chip microcomputer regularly to interrupt produces PPM (Pulse Position Modulation) signal controlling steering wheel.

1, multichannel steering wheel control

The core missions of steering engine controller are exactly to the speed control of steering wheel and the synchro control of many steering wheels.The present invention adopts the method for differential, and promptly every the certain angle P of t change, then the speed of the big more steering wheel rotation of t is slow more, introduces the notion of stepping amount then in program, i.e. the instruction number of the interior change of each cycle 20ms, the speed control of realization steering wheel.The synchro control of many steering wheels makes two to forward the different steering wheels of angle to and arrive appointed positions simultaneously, and synchro control is meant the P value difference that changes every each steering wheel of T time.

In conjunction with the relative merits of serial and parallel processing, the present invention adopts the way of hybrid processing.Utilize timer to interrupt producing the PPM signal, steering wheel control signal maximum pulse width is 2.5ms, and the cycle is 20ms, a PPM signal period (20ms) can be divided into 8 periods, each period is 2.5ms, and this timing just in time satisfies the pulsewidth requirement of steering wheel maximum angle.8 sections modes that adopt serial processing, in each period, produce 3 road PPM signals, this three road PWM adopts parallel processing method, the passage FEFO of burst length section is put low, long is the most rearmounted low, if the long pulse of three road signals does not all have 2.5ms, wait for that then total timing arrives 2.5ms after, continue to carry out next group again.Can produce nearly 24 road PPM signals so altogether.The generation process flow diagram of multichannel PPM signal as shown in Figure 4.

2, signal procedure design

No matter be wire communication or radio communication, essence all is the UART serial communication, and the software-driven to nrf905 is very simple, only need dispose its internal register by the SPI interface communication under standby mode and get final product, if single-chip microcomputer does not have the SPI mouth can use software simulation under software.

3, data memory module program design

What this platform was selected for use is the AT24C512 storer that has the IIC interface, and AT24C512 has 65535 bytes, and host computer has 26 bytes when sending data, and wherein effective information is 18 bytes; Correct in order to guarantee to read after storage, simultaneously with verification with also be deposited among the AT24C512, therefore every frame data totally 19 bytes stipulate that each distinguishes multipotency and store 128 frames, then a slice AT24C512 can divide 65535/ (19*128+1)=26.9, promptly can divide 27 districts.

As shown in Figure 5, the robot of the present invention information processing platform, information acquiring technology, data communication technology and the joint Driving technique of anthropomorphic robot have been related generally to, described controller comprises that also information processing and the open interface of realizing information processing and behavior planning function give the user so that the user can carry out the application module of secondary development, and dashed bars is the part of secondary development and research among Fig. 5.

Robot platform control system of the present invention, information acquisition and information fusion technology and data communication technology are applied to receive the information of driver module and finish information fusion processing, the current running status of transfer robot simultaneously in its steering engine controller; According to the assignment instructions that receives from the PC Control Software, cook up robot the concrete behavior pattern that should take.

Claims (7)

Translated fromChinese

1、一种双足机器人的信息处理平台，其特征在于：该信息处理平台由机器人控制器硬件系统、机器人通信协议，控制软件系统组成；机器人控制器硬件系统包括：电源模块、数据通信模块、数据存储模块和舵机控制模块，其中航机控制模块分别与数据通信模块、数据存储模块及电源模块相连接；机器人通信协议包括上位机发送协议和机器人控制板反馈协议，这两种协议都采用定长的格式，每帧数据为26个字节；控制软件系统采用单片机定时中断的方法产生PPM信号控制舵机，采用串行和并行混合处理的办法实现对多路舵机的控制，通过在待机模式下通过SPI接口通信配置其内部寄存器来完成通信程序的设计，通过将存储器划分27个存储区来数据存储程序的设计。1. An information processing platform for a biped robot, characterized in that: the information processing platform is composed of a robot controller hardware system, a robot communication protocol, and a control software system; the robot controller hardware system includes: a power supply module, a data communication module, The data storage module and the steering gear control module, in which the aircraft control module is connected with the data communication module, data storage module and power supply module respectively; the robot communication protocol includes the upper computer transmission protocol and the robot control board feedback protocol, both of which adopt Fixed-length format, each frame of data is 26 bytes; the control software system uses the method of single-chip timing interrupt to generate PPM signal to control the steering gear, and adopts the method of serial and parallel mixed processing to realize the control of multi-channel steering gear. In standby mode, configure its internal registers through the SPI interface to complete the design of the communication program, and divide the memory into 27 storage areas to design the data storage program.2、如权利要求1所述的一种双足机器人的信息处理平台，其特征在于：所述的电源模块采用额定电压为7.4V，带有保护电路的锂聚合物电池，瞬间放电能力强、放电电流大，向舵机控制模块、无线通讯模块、有线通讯模块、数据存储模块提供稳定的电压，并抑制舵机产生的抖动问题。2. The information processing platform of a biped robot as claimed in claim 1, characterized in that: the power supply module adopts a lithium polymer battery with a rated voltage of 7.4V and a protection circuit, which has a strong instantaneous discharge capacity, The discharge current is large, and it provides stable voltage to the steering gear control module, wireless communication module, wired communication module, and data storage module, and suppresses the jitter generated by the steering gear.3、如权利要求1所述的一种双足机器人的信息处理平台，其特征在于：所述的数据通信模块同时支持有线通信和无线通信两种模式，通过开关进行选择，有线部分采用RS232串口通信，无线收发模块是将下位机中的无线通讯模块单独出来，加上RS232电平转换芯片和低压差稳压芯片构成，发射器通过从PC的USB口取5V电压给电路供电，RS232的三个引脚通过耳机线的三个引脚接到发射器上。3. The information processing platform of a biped robot as claimed in claim 1, characterized in that: said data communication module supports two modes of wired communication and wireless communication at the same time, selected by a switch, and the wired part adopts RS232 serial port Communication, the wireless transceiver module is composed of the wireless communication module in the lower computer, plus the RS232 level conversion chip and the low-dropout regulator chip. The transmitter supplies power to the circuit by taking 5V from the USB port of the PC. The first pin is connected to the transmitter through the three pins of the headphone cable.4、如权利要求1所述的一种双足机器人的信息处理平台，其特征在于：所述的数据存储模块，由IIC总线的串行EEPROM组成，选用AT24C512作为外扩存储器来存储动作数据，PC机控制机器人时将一部分行为数据预先存储在该模块中，以减小不必要的通信量，舵机控制模块通过IIC总线对该模块进行读写操作。4, the information processing platform of a kind of biped robot as claimed in claim 1, is characterized in that: described data storage module is made up of the serial EEPROM of IIC bus line, selects AT24C512 as external expansion memory to store movement data, When the PC controls the robot, a part of the behavior data is pre-stored in the module to reduce unnecessary communication traffic, and the steering gear control module reads and writes the module through the IIC bus.5、如权利要求1所述的一种双足机器人的信息处理平台，其特征在于：所述的舵机控制模块为微控制器的最小系统，该舵机控制模块以主控制器PIC16F877为基础，上电复位电路，振荡电路，状态指示灯分别连接与主控制器，模块具有独特的在线调试和系统自编程接口，便于程序的调试和升级维护，利用片内的模数转换电路、电阻R51和R54构成的电池电压采样电路，实现对电池的欠压保护。5. The information processing platform of a biped robot according to claim 1, characterized in that: the steering gear control module is the minimum system of a microcontroller, and the steering gear control module is based on the main controller PIC16F877 , power-on reset circuit, oscillating circuit, and status indicators are respectively connected to the main controller. The module has a unique online debugging and system self-programming interface, which is convenient for program debugging, upgrading and maintenance. The on-chip analog-to-digital conversion circuit and resistor R51 The battery voltage sampling circuit composed of R54 realizes the undervoltage protection of the battery.6、如权利要求1所述的一种双足机器人的信息处理平台，其特征在于：所述的上位机发送协议，其发送数据格式为：2字节的数据包头+23字节的包内容+1字节的校验和。6. The information processing platform of a biped robot as claimed in claim 1, characterized in that: the host computer transmission protocol, the transmission data format is: 2 bytes of data packet header + 23 bytes of packet content +1 byte checksum.7、如权利要求1所述的一种双足机器人的信息处理平台，其特征在于：所述的下位机反馈协议，其反馈数据格式为：其发送数据格式为：2字节的数据包头+23字节的包内容+1字节的校验和。7. The information processing platform of a biped robot as claimed in claim 1, characterized in that: said lower computer feedback protocol, its feedback data format is: its sending data format is: 2-byte data packet header + 23 bytes of packet content + 1 byte of checksum.

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