Dual Control Network Method for Efficient Real-time Humanoid Robot Control System

Title
Dual Control Network Method for Efficient Real-time Humanoid Robot Control System
Authors
차영수유범재
Keywords
Humanoid; Control System
Issue Date
2009-07
Publisher
IEEE International Symposium on Industrial Electronics (ISIE 2009)
Citation
, 1797-1802
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 100Mbps 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.
URI
http://pubs.kist.re.kr/handle/201004/36489
Appears in Collections:
KIST Publication > Conference Paper
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