Design of a 13 degree-of-freedom biped robot with a CAN-based distributed digital control system

Author

Barker, O. ; Beranek, R. ; Ahmadi, M.

Author_Institution

Dept. of Mech. & Aerosp. Eng., Carleton Univ., Ottawa, ON, Canada

fYear

2010

fDate

6-9 July 2010

Firstpage

836

Lastpage

841

Abstract

The design of a 13 degree-of-freedom autonomous biped robot, ABL-B1 is presented. Actuation is provided by brushed motors coupled with harmonic drive gear heads. A Control Area Network (CAN) provides a central bus for communication between all the actuators and sensors in the system. CAN-enabled microcontrollers allow for a distributed digital control loop architecture. The control hardware is coupled with a modular software architecture, running on an embedded PC, giving the ABL-B1 platform the ability to be reconfigured with different control strategies and to operate in a fully autonomous manner.

Keywords

controller area networks; distributed control; legged locomotion; CAN-based distributed digital control system; CAN-enabled microcontroller; actuation; actuators; autonomous biped robot; brushed motor; control area network; control hardware; distributed digital control loop architecture; harmonic drive gear head; modular software architecture; sensors; Actuators; Computer architecture; Hardware; Joints; Legged locomotion; Real time systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Intelligent Mechatronics (AIM), 2010 IEEE/ASME International Conference on

Conference_Location

Montreal, ON

Print_ISBN

978-1-4244-8031-9

Type

conf

DOI

10.1109/AIM.2010.5695770

Filename

5695770