MAHRU-M: A mobile humanoid robot platform based on a dual-network control system and coordinated task execution
- MAHRU-M: A mobile humanoid robot platform based on a dual-network control system and coordinated task execution
- 차영수; 김강건; 이지용; 이중재; 최민준; 정문호; 김창환; 유범재; 오상록
- Humanoid robot; Control system; Task execution; MAHRU-M
- Issue Date
- Robotics and autonomous systems
- VOL 59, NO 6, 354-366
- 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.
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