Title :
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
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;
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
DOI :
10.1109/ISIE.2009.5218564
