Distributed controller for cooperative joint torque control of compact humanoid robots

This paper describes the design issues of distributed control system for compact humanoid robots. First, structure of distributed servo controller is proposed which is connected to a real-time serial interface. This servo-controller system has torque control function by improving a servocontroller of a conventional radio-control servomechanism. By use of this proposed distributed controller, a compact humanoid robot with 22 degrees of freedom is made which has compliance control function. Experimental results give good evidence of the proposed distributed controller architecture