Software Architecture for a Humanoid Robot Teleoperation Based on RT-Linux/Linux/Windows Operating System

Author

Lu, Yuepin ; Huang, Qiang ; Zhang, Lei ; Yang, Jiapeng ; Lv, Shusheng ; Keerio, Muhammadusman

Author_Institution

Dept. of Mechatronic Eng., Beijing Inst. of Technol.

fYear

2006

fDate

25-28 June 2006

Firstpage

324

Lastpage

328

Abstract

This paper puts forward a software system architecture for the humanoid robot teleoperation system based on RT-Linux/Linux/Windows operating system. In this new method the communication control subsystem is based on Linux operating system and exchanges data with the real-time control subsystem by using network interface instead of memolink. By this architecture the teleoperation system for the remote control of humanoid robot BHR-02 can be realized. The data transfer rate is increased, and the flexibility and adaptability of the system are improved greatly. The effective of this method has been confirmed by experiments

Keywords

Linux; control engineering computing; electronic data interchange; humanoid robots; network interfaces; software architecture; telerobotics; BHR-02 robot; RT-Linux/Linux/Windows operating system; communication control subsystem; data transfer rate; humanoid robot teleoperation; network interface; software architecture; Communication system control; Computer architecture; Control systems; Humanoid robots; Linux; Network interfaces; Operating systems; Real time systems; Software architecture; Software systems; Humanoid robot; Linux; Socket; TCP/IP; Teleoperation;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation, Proceedings of the 2006 IEEE International Conference on

Conference_Location

Luoyang, Henan

Print_ISBN

1-4244-0465-7

Electronic_ISBN

1-4244-0466-5

Type

conf

DOI

10.1109/ICMA.2006.257535

Filename

4026102