Dual control network method for efficient real-time humanoid robot control system

Author

Cha, Young-Su ; You, Bum-Jae

Author_Institution

Center for Cognitive Robot. Res., Korea Inst. of Sci. & Technol. (KIST), South Korea

fYear

2009

fDate

5-8 July 2009

Firstpage

1797

Lastpage

1802

Abstract

In this paper, a new control network method for real-time humanoid robot control system is proposed. The network method consists of dual structure and it is implemented with two communication protocol: high speed over 100 Mbps IEEE 1394, and controller area network (CAN) strong in noisy environment. The main advantages of the control network are represented by a high communication speed and low noise sensitivity. In addition the communication delay in control network is considerably reduced. The control network method is validated in robot control system humanoid robot MAHRU. The robot equipped by several motors represents the best experimental platform for testing high power motor control and correlated noise.

Keywords

control engineering computing; controller area networks; field buses; humanoid robots; mobile robots; real-time systems; CAN; IEEE 1394 communication; communication delay; communication protocol; communication speed; controller area network; correlated noise sensitivity; dual structure control network method; experimental platform; field bus; high-power motor control testing; real-time MAHRU humanoid robot control system; Added delay; Communication system control; Control systems; Humanoid robots; Protocols; Real time systems; Robot control; Robot sensing systems; Testing; Working environment noise;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics, 2009. ISIE 2009. IEEE International Symposium on

Conference_Location

Seoul

Print_ISBN

978-1-4244-4347-5

Electronic_ISBN

978-1-4244-4349-9

Type

conf

DOI

10.1109/ISIE.2009.5218564

Filename

5218564