Design and experiment of an open control system for a humanoid robot

Xuechao Chen; Qiang Huang; Zhangguo Yu; Jing Li; Wei Xu; Fei Meng; Jiayu Liu

doi:10.1109/ICAL.2010.5585309

Design and experiment of an open control system for a humanoid robot

Xuechao Chen^*, Qiang Huang, Zhangguo Yu, Jing Li, Wei Xu, Fei Meng, Jiayu Liu

^*Corresponding author for this work

Beijing Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

2 Citations (Scopus)

Abstract

This paper presents an open control system consisting of decision-making system, teleoperation system, and motion control system for humanoid robots. In order to enhance the expandability of the robot, this system supports CANopen protocol. Communication time is reduced effectively via multiple CAN channels in parallel mode. In addition, CANopen driver and Mini Multi-Axis controller are designed complying with DS301. The effectiveness of the proposed open control system is confirmed by walking experiment on our humanoid robot.

Original language	English
Title of host publication	2010 IEEE International Conference on Automation and Logistics, ICAL 2010
Pages	367-372
Number of pages	6
DOIs	https://doi.org/10.1109/ICAL.2010.5585309
Publication status	Published - 2010
Event	2010 IEEE International Conference on Automation and Logistics, ICAL 2010 - Shatin, Hong Kong Duration: 16 Aug 2010 → 20 Aug 2010

Publication series

Name	2010 IEEE International Conference on Automation and Logistics, ICAL 2010

Conference

Conference	2010 IEEE International Conference on Automation and Logistics, ICAL 2010
Country/Territory	Hong Kong
City	Shatin
Period	16/08/10 → 20/08/10

Keywords

CANopen
Control system
Humanoid robot

Access to Document

10.1109/ICAL.2010.5585309

Cite this

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title = "Design and experiment of an open control system for a humanoid robot",

abstract = "This paper presents an open control system consisting of decision-making system, teleoperation system, and motion control system for humanoid robots. In order to enhance the expandability of the robot, this system supports CANopen protocol. Communication time is reduced effectively via multiple CAN channels in parallel mode. In addition, CANopen driver and Mini Multi-Axis controller are designed complying with DS301. The effectiveness of the proposed open control system is confirmed by walking experiment on our humanoid robot.",

keywords = "CANopen, Control system, Humanoid robot",

author = "Xuechao Chen and Qiang Huang and Zhangguo Yu and Jing Li and Wei Xu and Fei Meng and Jiayu Liu",

year = "2010",

doi = "10.1109/ICAL.2010.5585309",

language = "English",

isbn = "9781424483754",

series = "2010 IEEE International Conference on Automation and Logistics, ICAL 2010",

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note = "2010 IEEE International Conference on Automation and Logistics, ICAL 2010 ; Conference date: 16-08-2010 Through 20-08-2010",

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Chen, X , Huang, Q , Yu, Z , Li, J, Xu, W, Meng, F & Liu, J 2010, Design and experiment of an open control system for a humanoid robot. in 2010 IEEE International Conference on Automation and Logistics, ICAL 2010., 5585309, 2010 IEEE International Conference on Automation and Logistics, ICAL 2010, pp. 367-372, 2010 IEEE International Conference on Automation and Logistics, ICAL 2010, Shatin, Hong Kong, 16/08/10. https://doi.org/10.1109/ICAL.2010.5585309

Design and experiment of an open control system for a humanoid robot. / Chen, Xuechao ; Huang, Qiang ; Yu, Zhangguo et al.
2010 IEEE International Conference on Automation and Logistics, ICAL 2010. 2010. p. 367-372 5585309 (2010 IEEE International Conference on Automation and Logistics, ICAL 2010).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Chen, Xuechao

AU - Huang, Qiang

AU - Yu, Zhangguo

AU - Li, Jing

AU - Xu, Wei

AU - Meng, Fei

AU - Liu, Jiayu

PY - 2010

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AB - This paper presents an open control system consisting of decision-making system, teleoperation system, and motion control system for humanoid robots. In order to enhance the expandability of the robot, this system supports CANopen protocol. Communication time is reduced effectively via multiple CAN channels in parallel mode. In addition, CANopen driver and Mini Multi-Axis controller are designed complying with DS301. The effectiveness of the proposed open control system is confirmed by walking experiment on our humanoid robot.

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DO - 10.1109/ICAL.2010.5585309

M3 - Conference contribution

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Y2 - 16 August 2010 through 20 August 2010

ER -

Design and experiment of an open control system for a humanoid robot

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Conference

Keywords

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