DocumentCode
2009757
Title
The sensor-controller network of the humanoid robot LOLA
Author
Favot, Valerio ; Buschmann, Thomas ; Schwienbacher, Markus ; Ewald, Alexander ; Ulbrich, Heinz
Author_Institution
Inst. of Appl. Mech., Tech. Univ. Munchen, Garching, Germany
fYear
2012
fDate
Nov. 29 2012-Dec. 1 2012
Firstpage
805
Lastpage
810
Abstract
This paper describes the control, communication and sensor network of the humanoid robot LOLA. A brief description of the complex decentralized electronic architecture will be given. A dedicated circuit board has been developed as decentralized computation device and sensor-controller interface. A detailed description of the hardware and software capabilities of the board is given. The implementation of the real-time communication network based on Sercos-III is described. Finally, a description of the control structure of LOLA is given.
Keywords
humanoid robots; local area networks; sensors; LOLA; Sercos-III; complex decentralized electronic architecture; decentralized computation device; dedicated circuit board; humanoid robot; real-time communication network; sensor-controller network; Control systems; Drives; Field programmable gate arrays; Humanoid robots; Joints; Robot sensing systems;
fLanguage
English
Publisher
ieee
Conference_Titel
Humanoid Robots (Humanoids), 2012 12th IEEE-RAS International Conference on
Conference_Location
Osaka
ISSN
2164-0572
Type
conf
DOI
10.1109/HUMANOIDS.2012.6651612
Filename
6651612
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