Title :
Software Architecture for a Humanoid Robot Teleoperation Based on RT-Linux/Linux/Windows Operating System
Author :
Lu, Yuepin ; Huang, Qiang ; Zhang, Lei ; Yang, Jiapeng ; Lv, Shusheng ; Keerio, Muhammadusman
Author_Institution :
Dept. of Mechatronic Eng., Beijing Inst. of Technol.
Abstract :
This paper puts forward a software system architecture for the humanoid robot teleoperation system based on RT-Linux/Linux/Windows operating system. In this new method the communication control subsystem is based on Linux operating system and exchanges data with the real-time control subsystem by using network interface instead of memolink. By this architecture the teleoperation system for the remote control of humanoid robot BHR-02 can be realized. The data transfer rate is increased, and the flexibility and adaptability of the system are improved greatly. The effective of this method has been confirmed by experiments
Keywords :
Linux; control engineering computing; electronic data interchange; humanoid robots; network interfaces; software architecture; telerobotics; BHR-02 robot; RT-Linux/Linux/Windows operating system; communication control subsystem; data transfer rate; humanoid robot teleoperation; network interface; software architecture; Communication system control; Computer architecture; Control systems; Humanoid robots; Linux; Network interfaces; Operating systems; Real time systems; Software architecture; Software systems; Humanoid robot; Linux; Socket; TCP/IP; Teleoperation;
Conference_Titel :
Mechatronics and Automation, Proceedings of the 2006 IEEE International Conference on
Conference_Location :
Luoyang, Henan
Print_ISBN :
1-4244-0465-7
Electronic_ISBN :
1-4244-0466-5
DOI :
10.1109/ICMA.2006.257535
