Design and realization of control system of humanoid robot

Author

Zhong, Hua ; Wu, Zhenwei ; Bu, Chunguang

Author_Institution

Shenyang Inst. of Autom., Chinese Acad. of Sci., Beijing

fYear

0

fDate

0-0 0

Firstpage

280

Lastpage

283

Abstract

Aimed at structure of humanoid robot and requirements for control performance, this paper designs and realizes joint controller based on CAN bus, and structures an effective credible control system by connecting all joint controllers, force sensors, task management computer and upper limbs control computer together; and realizes the transmission of audio and video information by wireless LAN; constitutes whole control system of humanoid robot. Characteristics of the system are simple structure, high reliability, good real-time, and friendly human-machine interface. This paper includes mainly: overall structure of the humanoid robot, design and implement of controller, topology of control system, and bring forward some imaginations to enhance performance of the control system

Keywords

control engineering computing; controller area networks; humanoid robots; CAN bus; control system design; controller area networks; human-machine interface; humanoid robot; wireless LAN; Automatic control; Charge-coupled image sensors; Control systems; Force control; Force sensors; Humanoid robots; Mobile robots; Neck; Robotics and automation; Service robots;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Biomimetics (ROBIO). 2005 IEEE International Conference on

Conference_Location

Shatin

Print_ISBN

0-7803-9315-5

Type

conf

DOI

10.1109/ROBIO.2005.246277

Filename

1708637