Design and implementation of mobile humanoid robot control system based on dual network

Author

Cha, Young-Su ; You, Bum-Jae

Author_Institution

Center for Cognitive Robot. Res., Korea Inst. of Sci. & Technol. (KIST), Seoul, South Korea

fYear

2009

Firstpage

251

Lastpage

256

Abstract

In this paper, we realize a new real-time humanoid robot control system based on dual network. The dual network method consists of two communication protocols: high speed IEEE 1394, and high stable controller area network (CAN). We enhanced the efficiency of control network system, and the network transformation board for consisting of dual network was developed. The control network method is validated in robot control system of mobile humanoid robot MAHRU-M. The robot is the latest prototype model which remains a mobile humanoid type and is expanding its capabilities for the adaptability in home service environment.

Keywords

controller area networks; humanoid robots; mobile robots; protocols; system buses; CAN; IEEE 1394; MAHRU-M; communication protocols; controller area network; dual network; home service environment; mobile humanoid robot control system; realtime humanoid robot control system; Automatic control; Communication system control; Communications technology; Control systems; Humanoid robots; Low-frequency noise; Mobile communication; Protocols; Robot control; Working environment noise;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Biomimetics (ROBIO), 2009 IEEE International Conference on

Conference_Location

Guilin

Print_ISBN

978-1-4244-4774-9

Electronic_ISBN

978-1-4244-4775-6

Type

conf

DOI

10.1109/ROBIO.2009.5420653

Filename

5420653