Leonardo

The most expressive robot in the world today, Leonardo has 69 degrees of freedom of which 32 are in the face alone. Although it can’t walk, the robot gesture and is able to manipulate objects. Leonardo can also recognize faces by keeping a buffer of up to 200 temporarily contiguous (or nearly) views of the tracked face. A motor control system to address the needs of many-axis interactive robots, a motor control system has been developed. These controllers allow good dynamic performance by simultaneously supporting both position and velocity feedback. The motor drivers are FET H-bridges and the system is controlled by a custom Soc motion controller implemented in an Xlinx Virtex FPGA.