Design and Implementation of Mobile Humanoid Robot Control System Based on Dual Network

Title
Design and Implementation of Mobile Humanoid Robot Control System Based on Dual Network
Authors
차영수유범재
Keywords
Humanoid; Control System; IEEE 1394; CAN
Issue Date
2009-12
Publisher
Proceedings of the 2009 IEEE International Conference on Robotics and Biomimetics
Citation
, 251-256
Abstract
In this paper, we realize a new real-time humanoid robot control system based on dual network. The dual network method consists of two communication protocols: high speed IEEE 1394, and high stable Controller Area Network (CAN). We enhanced the efficiency of control network system, and the network transformation board for consisting of dual network was developed. The control network method is validated in robot control system of mobile humanoid robot MAHRU-M. The robot is the latest prototype model which remains a mobile humanoid type and is expanding its capabilities for the adaptability in home service environment.
URI
http://pubs.kist.re.kr/handle/201004/41717
Appears in Collections:
KIST Publication > Conference Paper
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