Real world issues with real-time control of MABEL: A platform for experimental control of bipedal locomotion

This paper describes selected issues with the commissioning and implementation of a real-time control system for an experimental bipedal robot platform named MABEL at the University of Michigan. Real world issues with printed circuit board layout and manufacturing, replacement of third party components, and communication issues associated with the computer control system are discussed. Control system implementation issues such as cable stretching in the hip and knee joint drivetrains, sensor resolution issues, and problems with software implementation related to computer processing speed for control system throughput are also presented. We illustrate solutions to each of these specific issues. In addition to standard troubleshooting processes, several complex concepts that may aid any commissioning and implementation effort are noted. A summary and discussion of future work with the robot conclude the paper.