A controller network for a humanoid robot

被引：0
|
作者：
Kopacek, P [1 ]
Schierer, E [1 ]
Wuerzl, M [1 ]
机构：
[1] Vienna Tech Univ, Inst Mech & Mechatron, Dept Intelligent Handling & Robot, A-1040 Vienna, Austria
来源：
COMPUTER AIDED SYSTEMS THEORY - EUROCAST 2005 | 2005年 / 3643卷
关键词：
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
In this paper we describe the design and construction of a distributed controller network for the humanoid robot "Archie". The mechanical design of the robot incorporates 6 DOF per leg, 6 DOF per arm and 3 DOF for the torso and the head respectively. The network consists of 3 subnetworks, each including a set of dedicated processing nodes interconnected by a CAN bus. This partitioning into levels of competence guarentees failure tolerance and reliability and minimizes communication overhead even on heavy load conditions.
引用
收藏
页码：584 / 589
页数：6
相关论文
共 50 条
  • [41] Experimental Validation of a Bio-Inspired Controller for Dynamic Walking with a Humanoid Robot
    Van der Noot, Nicolas
    Colasanto, Luca
    Barrea, Allan
    Van den Kieboom, Jesse
    Ronsse, Renaud
    Ijspeert, Auke J.
    2015 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), 2015, : 393 - 400
  • [42] Disturbance Observer based Linear Feedback Controller for Compliant Motion of Humanoid Robot
    Kim, Mingon
    Kim, Jung Hoon
    Kim, Sanghyun
    Sim, Jaehoon
    Park, Jaeheung
    2018 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2018, : 403 - 410
  • [43] A New Flexible Controller for a Humanoid Robot That Considers Visual and Force Information Interaction
    Ma, Gan
    Huang, Qiang
    Yu, Zhangguo
    Chen, Xuechao
    Zhang, Weimin
    Gao, Junyao
    Meng, Libo
    Liu, Yun-Hui
    2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2014, : 1036 - 1041
  • [44] Biologically Inspired Controller of Human Action Behaviour for a Humanoid Robot in a Dyadic Scenario
    Duarte, Nuno Ferreira
    Rakovic, Mirko
    Santos-Victor, Jose
    PROCEEDINGS OF 18TH INTERNATIONAL CONFERENCE ON SMART TECHNOLOGIES (IEEE EUROCON 2019), 2019,
  • [45] Landing force controller for a humanoid robot: Time-domain passivity approach
    Kim, Yong-Duk
    Lee, Bum-Joo
    Yoo, Jeong-Ki
    Kim, Jong-Hwan
    Ryu, Jee-Hwan
    2006 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS, VOLS 1-6, PROCEEDINGS, 2006, : 4237 - +
  • [46] Dynamic balancing humanoid robot using completmentary filter to optimized pid controller
    Joni, K.
    Ulum, M.
    Prasetyo, T.
    Maulana, A. Y.
    2ND INTERNATIONAL CONFERENCE OF COMBINATORICS, GRAPH THEORY, AND NETWORK TOPOLOGY, 2019,
  • [47] Evolving Humanoid Robot Motions Based on Gene Regulatory Network
    Kawabata, Naoyuki
    Iba, Hitoshi
    2019 IEEE 4TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS AND MECHATRONICS (ICARM 2019), 2019, : 67 - 74
  • [48] ZMP based neural network inspired humanoid robot control
    Kim, Dong W.
    Kim, Nak-Hyun
    Park, Gwi-Tae
    NONLINEAR DYNAMICS, 2012, 67 (01) : 793 - 806
  • [49] ZMP based neural network inspired humanoid robot control
    Dong W. Kim
    Nak-Hyun Kim
    Gwi-Tae Park
    Nonlinear Dynamics, 2012, 67 : 793 - 806
  • [50] Application of artificial neural network for control and navigation of humanoid robot
    Rath, Asita Kumar
    Das, Harish Chandra
    Parhi, Dayal R.
    Kumar, Priyadarshi Biplab
    JOURNAL OF MECHANICAL ENGINEERING AND SCIENCES, 2018, 12 (02) : 3529 - 3538
12345