Advanced Distributed Architecture for a Small Biped Robot Control

Author

Albero, M. ; Blanes, F. ; Benet, G. ; Simó, J.E. ; Coronel, J.

Author_Institution

Departamento de Informatica de Sistemas y Computadores, Univ. Politecnica de Valencia

fYear

2006

Firstpage

358

Lastpage

363

Abstract

In this paper, an advanced architecture for embedded control systems to be used in a mobile biped robot, called YABIRO-II, is presented. The robot has a total height of 55 cm, and a total weight of 4 Kg. Also, it has a total of 27 degrees of freedom (DOF). This number of joints enables YABIRO-II to produce many different gait configurations, and is also suitable to test and validate the proposed distributed control architecture. This distributed architecture has been designed to obtain a high technological robot platform. Also, a real time software platform has been also developed to control the robot from an embedded-PC node, helped by a reliable dual-CAN network to distribute all the robot information between sensors and actuators nodes

Keywords

control engineering computing; controller area networks; distributed control; embedded systems; legged locomotion; motion control; YABIRO-II robot; biped robot control; distributed architecture; distributed control; dual-CAN network; embedded control system; gait configuration; real-time systems; Actuators; Communication system control; Computer architecture; Control systems; Distributed control; Humanoid robots; Humans; Mobile robots; Robot control; Robot sensing systems; biped robots; distributed control; embedded systems; real-time systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Humanoid Robots, 2006 6th IEEE-RAS International Conference on

Conference_Location

Genova

Print_ISBN

1-4244-0200-X

Electronic_ISBN

1-4244-0200-X

Type

conf

DOI

10.1109/ICHR.2006.321297

Filename

4115627