Has carried on the analysis and the adjustment to the robot hardware architecture, and analyzed the robot kinematics model.

对机器人硬件结构进行了分析和调整，对机器人的运动学模型进行了分析。

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Secondly, the hardware architecture of robot controller is introduced also. Lastly, the design of the software architecture is introduced in detail.

本文首先介绍了便携式机器人本体结构，其次介绍了该控制器的硬件结构，最后介绍了控制器软件的设计。

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The controller system architecture consists of a S3C2410 chip with the ARM9 core running RT-Linux. The implementation including hardware and software is illustrated by a robot walking example.

使用ARM9处理器s3c 2410和RT - Linux构建小型拟人机器人控制器的系统架构，以拟人机器人的行走控制为例，从硬件和软件上介绍了控制器的实现方法。

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