Design and experiment of an open control system for a humanoid robot

Author

Chen, Xuechao ; Huang, Qiang ; Yu, Zhangguo ; Li, Jing ; Xu, Wei ; Meng, Fei ; Liu, Jiayu

Author_Institution

Sch. of Mechatronical Eng., Beijing Inst. of Technol., Beijing, China

fYear

2010

fDate

16-20 Aug. 2010

Firstpage

367

Lastpage

372

Abstract

This paper presents an open control system consisting of decision-making system, teleoperation system, and motion control system for humanoid robots. In order to enhance the expandability of the robot, this system supports CANopen protocol. Communication time is reduced effectively via multiple CAN channels in parallel mode. In addition, CANopen driver and Mini Multi-Axis controller are designed complying with DS301. The effectiveness of the proposed open control system is confirmed by walking experiment on our humanoid robot.

Keywords

control engineering computing; control system synthesis; controller area networks; decision making; humanoid robots; mobile robots; telecontrol; CANopen driver; CANopen protocol; decision-making system; humanoid robot; mini multiaxis controller; motion control system; open control system; teleoperation system; Driver circuits; Humanoid robots; Joints; Protocols; Robot sensing systems; CANopen; Control system; Humanoid robot;

fLanguage

English

Publisher

ieee

Conference_Titel

Automation and Logistics (ICAL), 2010 IEEE International Conference on

Conference_Location

Hong Kong and Macau

Print_ISBN

978-1-4244-8375-4

Electronic_ISBN

978-1-4244-8374-7

Type

conf

DOI

10.1109/ICAL.2010.5585309

Filename

5585309