Distributed real time architecture for small biped robot YABIRO

Author

Albero, M. ; Blanes, F. ; Benet, G. ; Pérez, P. ; Simó, J.E. ; Coronel, J.

Author_Institution

Departamento de Informatica de Sistemas y Computadores, Univ. Politecnica de Valencia, Spain

fYear

2005

fDate

27-30 June 2005

Firstpage

653

Lastpage

658

Abstract

In this paper, we present a real time architecture for embedded control systems to be used in a mobile biped robot called YABIRO. The robot has a total of 14 degrees of freedom (DOF). This number of joints enables YABIRO to produce many different gait configurations, and is also suitable to test and validate the proposed real time control architecture. A new embedded intelligent motor controller (IMCD) has been also designed and implemented in each joint node of the distributed architecture, to work inside the real time network.

Keywords

control system synthesis; distributed control; embedded systems; gait analysis; humanoid robots; intelligent control; legged locomotion; DOF; IMCD; YABIRO; degrees of freedom; distributed architecture; distributed control system; distributed real time architecture; embedded control system; embedded intelligent motor controller; gait configurations; humanoid robots; mobile biped robot; real time control architecture; real time network; small biped robot; Actuators; Communication system control; Computer architecture; Control systems; Costs; Distributed control; Legged locomotion; Mobile robots; Robot sensing systems; Servomechanisms; distributed control systems; embedded systems; humanoid robots;

fLanguage

English

Publisher

ieee

Conference_Titel

Computational Intelligence in Robotics and Automation, 2005. CIRA 2005. Proceedings. 2005 IEEE International Symposium on

Print_ISBN

0-7803-9355-4

Type

conf

DOI

10.1109/CIRA.2005.1554351

Filename

1554351