DocumentCode
2246632
Title
Design and Implementation of Humanoid Robot Controller Based on CAN
Author
Zhong, Hua ; Wu, Zhenwei ; Li, Bin ; Bu, Chunguang ; Li, Yanjie
Author_Institution
Shenyang Inst. of Autom., Chinese Acad. of Sci., Shenyang
fYear
2004
fDate
22-26 Aug. 2004
Firstpage
645
Lastpage
648
Abstract
Aiming at humanoid robot structure and requirement for control performance, this paper designs and realizes joint controller based on CAN, and structures an effective credible control system by connecting controllers, force sensors and harmonious level computer together. This paper includes mainly: overall structure of the system, design and implementation of hardware and software, topology of control system, and bring forward some imaginations to enhance performance of the system
Keywords
control system synthesis; controller area networks; humanoid robots; controller area network; humanoid robot controller; Automatic control; Control systems; Force control; Force sensors; Hardware; Humanoid robots; Neck; Robot control; Robotics and automation; Transceivers; CAN; MCU; humanoid robot;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Biomimetics, 2004. ROBIO 2004. IEEE International Conference on
Conference_Location
Shenyang
Print_ISBN
0-7803-8614-8
Type
conf
DOI
10.1109/ROBIO.2004.1521856
Filename
1521856
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