임헌영 강연식 이중재 김종원 유범재 2024-01-20T22:35:33Z 2024-01-20T22:35:33Z 2021-09-06 2008-09 1975-6291 https://pubs.kist.re.kr/handle/201004/133179 In this paper, control software architecture is designed to enable a heterogeneous multiple humanoid robot demonstration executing tasks cooperating with each other. In the heterogeneous humanoid robot team, one large humanoid robot and two small humanoid robots are included. For the efficient and reliable information sharing between many software components for humanoid control, sensing and planning, CORBA based software framework is applied. The humanoid tasks are given in terms of finite state diagram based human-robot interface, which is interpreted into the XML based languages defining the details of the humanoid mission. A state transition is triggered based on the event which is described in terms of conditions on the sensor measurements such as robot locations and the external vision system. In the demonstration of the heterogeneous humanoid team, the task of multiple humanoid cleaning the table is given to the humanoid robots and successfully executed based on the given state diagram. Korean 한국로봇학회 이종다수의 네트워크 기반 휴머노이드를 위한 협조제어 소프트웨어 프레임워크 Framework of a Cooperative Control Software for Heterogeneous Multiple Network Based Humanoid Article 2 로봇학회 논문지, v.3, no.3, pp.226 - 236 로봇학회 논문지 3 3 226 236 ART001417239 Cooperative Control Humanoid Team Multiple Humanoid Control Robot Control Software