MAHRU-M: A mobile humanoid robot platform based on a dual-network control system and coordinated task execution

Title
MAHRU-M: A mobile humanoid robot platform based on a dual-network control system and coordinated task execution
Authors
차영수김강건이지용이중재최민준정문호김창환유범재오상록
Keywords
Humanoid robot; Control system; Task execution; MAHRU-M
Issue Date
2011-06
Publisher
Robotics and autonomous systems
Citation
VOL 59, NO 6, 354-366
Abstract
This paper introduces a mobile humanoid robot platform able to execute various services for humans in their everyday environments. For service in more intelligent and varied environments, the control system of a robot must operate efficiently to ensure a coordinated robot system. We enhanced the efficiency of the control system by developing a dual-network control system. The network system consists of two communication protocols: high-speed IEEE 1394, and a highly stable Controller Area Network (CAN). A service framework is also introduced for the coordinated task execution by a humanoid robot. To execute given tasks, various sub-systems of the robot were coordinated effectively by this system. Performance assessments of the presented framework and the proposed control system are experimentally conducted. MAHRU-M, as a platform for a mobile humanoid robot, recognizes the designated object. The object’s pose is calculated by performing model-based object tracking using a particle filter with back projection-based sampling. A unique approach is used to solve the human-like arm inverse kinematics, allowing the control system to generate smooth trajectories for each joint of the humanoid robot. A mean-shift algorithm using bilateral filtering is also used for real-time and robust object tracking. The results of the experiment show that a robot can execute its services efficiently in human workspaces such as an office or a home.
URI
http://pubs.kist.re.kr/handle/201004/39774
ISSN
0921-8890
Appears in Collections:
KIST Publication > Article
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