Design and implementation of humanoid robot controller based on CAN

被引：0

作者：

Zhong, H ^{[1
]}

Wu, ZW ^{[1
]}

Li, B ^{[1
]}

Bu, CG ^{[1
]}

Li, YJ ^{[1
]}

机构：

[1] Chinese Acad Sci, Shenyang Inst Automat, Shenyang, Peoples R China

来源：

IEEE ROBIO 2004: PROCEEDINGS OF THE IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS | 2004年

关键词：

CAN; humanoid robot; MCU;

D O I：

暂无

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

Aiming at Humanoid Robot structure and requirement for control performance, this paper designs and realizes joint controller based on CAN, and structures an effective credible control system by connecting controllers, force sensors and harmonious level computer together. This paper includes mainly: overall structure of the system, design and implement of hardware and software, topology of control system, and bring forward some imaginations to enhance performance of the system.

引用

页码：645 / 648

页数：4

共 9 条

[1] *FUJ SEM, 2001, MB90540 545 SER HARD
[2] ISO, 1993, ISO 11898
[3] *MAX INT PROD, 1997, MAX531 DAT SHEET
[4] *PHIL SEM, 1996, PCA82C250 251 CAN TR
[5] *PHIL SEM, 2000, PCA82C250 CAN CONTR
[6] *R BOSCH GMBH, 1991, CAN SPEC VERS 2 0
[7] Shi ZY, 2002, PROCEEDINGS OF THE 4TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION, VOLS 1-4, P1265, DOI 10.1109/WCICA.2002.1020785
[8] Zhao MG, 2002, 2002 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS, P2253
[9] Zhao Tie-jun, 2003, Robot, V25, P101

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