The Distributed Control System for Humanoid Robot BHBIP

A distributed control system for humanoid robot BHBIP is proposed, which combines three layers including main control layer, communication layer and actuating layer. The main control layer is core of control system, dealing with gait generation, decision making and human-robot interface. The communication layer serves as a bridge between main control layer and actuating layer. Meanwhile, the actuating layer is responsible for servo control of joint motor and sensor information collection. Though walking experiment, the effectiveness of proposed distributed control system is confirmed that BHBIP maintained the stable locomotion on outdoor environment.