Title :
The sensor-controller network of the humanoid robot LOLA
Author :
Favot, Valerio ; Buschmann, Thomas ; Schwienbacher, Markus ; Ewald, Alexander ; Ulbrich, Heinz
Author_Institution :
Inst. of Appl. Mech., Tech. Univ. Munchen, Garching, Germany
fDate :
Nov. 29 2012-Dec. 1 2012
Abstract :
This paper describes the control, communication and sensor network of the humanoid robot LOLA. A brief description of the complex decentralized electronic architecture will be given. A dedicated circuit board has been developed as decentralized computation device and sensor-controller interface. A detailed description of the hardware and software capabilities of the board is given. The implementation of the real-time communication network based on Sercos-III is described. Finally, a description of the control structure of LOLA is given.
Keywords :
humanoid robots; local area networks; sensors; LOLA; Sercos-III; complex decentralized electronic architecture; decentralized computation device; dedicated circuit board; humanoid robot; real-time communication network; sensor-controller network; Control systems; Drives; Field programmable gate arrays; Humanoid robots; Joints; Robot sensing systems;
Conference_Titel :
Humanoid Robots (Humanoids), 2012 12th IEEE-RAS International Conference on
Conference_Location :
Osaka
DOI :
10.1109/HUMANOIDS.2012.6651612
