Distributed control system for a humanoid robot

Zhangguo Yu*, Qiang Huang, Jianxi Li, Qing Shi, Xuechao Chen, Kejie Li

*此作品的通讯作者

科研成果: 书/报告/会议事项章节会议稿件同行评审

21 引用 (Scopus)

摘要

A humanoid robot generally has more than thirty DOFs to be controlled in real-time and needs to deal with information of multiple sensors such as encoders, force, gyro, acceleration and vision sensors. Therefore an effective control system is crucial for the humanoid robot. In this paper, we propose a distributed control architecture for humanoid robots based on the combination of Memolink and CAN bus. This architecture consists of a vision and hearing processing sub-system for vision information processing, a tele-operation sub-system and a real-time motion control sub-system. The operating systems of this architecture are composed of Windows and RT-Linux. The Windows OS is used as the operating system of the former two subsystems to process multimedia and tele-operation information tractably. Linux and real-time RT-Linux OS are used as the operating system of motion control sub-system to achieve the real-time control capability. The biped walk experiments show that this control architecture is effective, reliable and tractable.

源语言英语
主期刊名Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007
1166-1171
页数6
DOI
出版状态已出版 - 2007
活动2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007 - Harbin, 中国
期限: 5 8月 20078 8月 2007

出版系列

姓名Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007

会议

会议2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007
国家/地区中国
Harbin
时期5/08/078/08/07

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