Title :
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
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;
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
DOI :
10.1109/ICAL.2010.5585309
