Title :
Design and realization of control system of humanoid robot
Author :
Zhong, Hua ; Wu, Zhenwei ; Bu, Chunguang
Author_Institution :
Shenyang Inst. of Autom., Chinese Acad. of Sci., Beijing
Abstract :
Aimed at structure of humanoid robot and requirements for control performance, this paper designs and realizes joint controller based on CAN bus, and structures an effective credible control system by connecting all joint controllers, force sensors, task management computer and upper limbs control computer together; and realizes the transmission of audio and video information by wireless LAN; constitutes whole control system of humanoid robot. Characteristics of the system are simple structure, high reliability, good real-time, and friendly human-machine interface. This paper includes mainly: overall structure of the humanoid robot, design and implement of controller, topology of control system, and bring forward some imaginations to enhance performance of the control system
Keywords :
control engineering computing; controller area networks; humanoid robots; CAN bus; control system design; controller area networks; human-machine interface; humanoid robot; wireless LAN; Automatic control; Charge-coupled image sensors; Control systems; Force control; Force sensors; Humanoid robots; Mobile robots; Neck; Robotics and automation; Service robots;
Conference_Titel :
Robotics and Biomimetics (ROBIO). 2005 IEEE International Conference on
Conference_Location :
Shatin
Print_ISBN :
0-7803-9315-5
DOI :
10.1109/ROBIO.2005.246277
