Distributed control system of humanoid robots based on real-time ethernet

被引：16
作者：
Kanehiro, Fumio
Ishiwata, Yoichi
Saito, Hajime
Akachi, Kazuhiko
Miyamori, Gou
Isozumi, Takakatsu
Kaneko, Kenji
Hirukawa, Hirohisa
机构：
[1] Natl Inst Adv Ind Sci & Technol, Tsukuba 305, Japan
[2] Japan Sci & Technol Agcy, CREST, Saitama, Japan
[3] MovingEye Inc, Tokyo 101, Japan
[4] Gen Robotix Inc, Ibaraki 305, Japan
[5] Kawada Industries Inc, Utsunomiya, Tochigi 321, Japan
来源：
2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12 | 2006年
关键词：
D O I：
10.1109/IROS.2006.281691
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper we realize a real-time communication on Ethernet and develop an onbody distributed control system for a humanoid robot, IIRP-3P. Real-time communication on Ethernet is realized by (1) a communication method using the data link layer directly and (2) timing control using a real-time operating system ARTLinux. This enables us to reduce the cost of embedded systems and improve developmental efficiency. A CORBA implementation which works on this communication layer is also developed to increase compatibility with existing software. Finally a small-size distributed robot controller is developed for the onbody network of HRP-3P and a distributed I/O system is developed on top of this.
引用
收藏
页码：2471 / 2477
页数：7
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