Title :
Distributed real time architecture for small biped robot YABIRO
Author :
Albero, M. ; Blanes, F. ; Benet, G. ; Pérez, P. ; Simó, J.E. ; Coronel, J.
Author_Institution :
Departamento de Informatica de Sistemas y Computadores, Univ. Politecnica de Valencia, Spain
Abstract :
In this paper, we present a real time architecture for embedded control systems to be used in a mobile biped robot called YABIRO. The robot has a total of 14 degrees of freedom (DOF). This number of joints enables YABIRO to produce many different gait configurations, and is also suitable to test and validate the proposed real time control architecture. A new embedded intelligent motor controller (IMCD) has been also designed and implemented in each joint node of the distributed architecture, to work inside the real time network.
Keywords :
control system synthesis; distributed control; embedded systems; gait analysis; humanoid robots; intelligent control; legged locomotion; DOF; IMCD; YABIRO; degrees of freedom; distributed architecture; distributed control system; distributed real time architecture; embedded control system; embedded intelligent motor controller; gait configurations; humanoid robots; mobile biped robot; real time control architecture; real time network; small biped robot; Actuators; Communication system control; Computer architecture; Control systems; Costs; Distributed control; Legged locomotion; Mobile robots; Robot sensing systems; Servomechanisms; distributed control systems; embedded systems; humanoid robots;
Conference_Titel :
Computational Intelligence in Robotics and Automation, 2005. CIRA 2005. Proceedings. 2005 IEEE International Symposium on
Print_ISBN :
0-7803-9355-4
DOI :
10.1109/CIRA.2005.1554351
