Cho, YJ You, BJ Oh, SR Lee, CW 2024-01-21T15:11:37Z 2024-01-21T15:11:37Z 2021-09-04 1999-08 0921-0296 https://pubs.kist.re.kr/handle/201004/142039 This paper presents the design of a compact/open network-based controller incorporating modular software architecture for various kinds of robot applications. Within the proposed controller scheme, a standardized real-time network like CAN connects the central motion control part and the servo control part. Thus, the size of the servo controller becomes small enough to be attached inside the robot body and the control software can be designed with an open and modular concept. The open/compact controller incorporating a modular software architecture offers benefits of reduced engineering costs. The proposed architecture has been implemented on a KIST humanoid robot controller platform and its performance has been verified through experimental tests. English KLUWER ACADEMIC PUBL A compact/open network-based controller incorporating modular software architecture for a humanoid robot Article 10.1023/A:1008187330758 1 JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, v.25, no.4, pp.341 - 355 JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS 25 4 341 355 scie scopus 000082508300005 2-s2.0-0043225154 Computer Science, Artificial Intelligence Robotics Computer Science Robotics Article network-based controller open/compact design modular software architecture humanoid robot