Dual control network method for efficient real-time humanoid robot control system

In this paper, a new control network method for real-time humanoid robot control system is proposed. The network method consists of dual structure and it is implemented with two communication protocol: high speed over 100 Mbps IEEE 1394, and controller area network (CAN) strong in noisy environment....

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Bibliographic Details
Published in2009 IEEE International Symposium on Industrial Electronics pp. 1797 - 1802
Main Authors Young-Su Cha, Bum-Jae You
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.07.2009
Subjects
Added delay
Communication system control
Control systems
Humanoid robots
Protocols
Real time systems
Robot control
Robot sensing systems
Testing
Working environment noise
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Summary:In this paper, a new control network method for real-time humanoid robot control system is proposed. The network method consists of dual structure and it is implemented with two communication protocol: high speed over 100 Mbps IEEE 1394, and controller area network (CAN) strong in noisy environment. The main advantages of the control network are represented by a high communication speed and low noise sensitivity. In addition the communication delay in control network is considerably reduced. The control network method is validated in robot control system humanoid robot MAHRU. The robot equipped by several motors represents the best experimental platform for testing high power motor control and correlated noise.
ISBN:9781424443475
1424443474
ISSN:2163-5137
DOI:10.1109/ISIE.2009.5218564