Title :
Design of a 13 degree-of-freedom biped robot with a CAN-based distributed digital control system
Author :
Barker, O. ; Beranek, R. ; Ahmadi, M.
Author_Institution :
Dept. of Mech. & Aerosp. Eng., Carleton Univ., Ottawa, ON, Canada
Abstract :
The design of a 13 degree-of-freedom autonomous biped robot, ABL-B1 is presented. Actuation is provided by brushed motors coupled with harmonic drive gear heads. A Control Area Network (CAN) provides a central bus for communication between all the actuators and sensors in the system. CAN-enabled microcontrollers allow for a distributed digital control loop architecture. The control hardware is coupled with a modular software architecture, running on an embedded PC, giving the ABL-B1 platform the ability to be reconfigured with different control strategies and to operate in a fully autonomous manner.
Keywords :
controller area networks; distributed control; legged locomotion; CAN-based distributed digital control system; CAN-enabled microcontroller; actuation; actuators; autonomous biped robot; brushed motor; control area network; control hardware; distributed digital control loop architecture; harmonic drive gear head; modular software architecture; sensors; Actuators; Computer architecture; Hardware; Joints; Legged locomotion; Real time systems;
Conference_Titel :
Advanced Intelligent Mechatronics (AIM), 2010 IEEE/ASME International Conference on
Conference_Location :
Montreal, ON
Print_ISBN :
978-1-4244-8031-9
DOI :
10.1109/AIM.2010.5695770
