Distributed Control System of Humanoid Robots based on Real-time Ethernet

Author

Kanehiro, Fumio ; Ishiwata, Yoichi ; Saito, Hajime ; Akachi, Kazuhiko ; Miyamori, Gou ; Isozumi, Takakatsu ; KANEKO, Kenji ; Hirukawa, Hirohisa

Author_Institution

Nat. Inst. of Adv. Ind. Sci. & Technol., Ibaraki

fYear

2006

fDate

9-15 Oct. 2006

Firstpage

2471

Lastpage

2477

Abstract

In this paper we realize a real-time communication on Ethernet and develop an onbody distributed control system for a humanoid robot, HRP-3P. Real-time communication on Ethernet is realized by (1) a communication method using the data link layer directly and (2) timing control using a real-time operating system ARTLinux. This enables us to reduce the cost of embedded systems and improve developmental efficiency. A CORBA implementation which works on this communication layer is also developed to increase compatibility with existing software. Finally a small-size distributed robot controller is developed for the onbody network of HRP-3P and a distributed I/O system is developed on top of this

Keywords

Linux; control engineering computing; distributed control; distributed object management; humanoid robots; legged locomotion; local area networks; CORBA; HRP-3P; data link layer; distributed I/O system; distributed robot controller; humanoid robots; onbody distributed control system; real-time Ethernet; real-time operating system ARTLinux; timing control; Communication system control; Control systems; Costs; Distributed control; Embedded system; Ethernet networks; Humanoid robots; Operating systems; Real time systems; Timing;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on

Conference_Location

Beijing

Print_ISBN

1-4244-0258-1

Electronic_ISBN

1-4244-0259-X

Type

conf

DOI

10.1109/IROS.2006.281691

Filename

4058759