Title :
Distributed Control System of Humanoid Robots based on Real-time Ethernet
Author :
Kanehiro, Fumio ; Ishiwata, Yoichi ; Saito, Hajime ; Akachi, Kazuhiko ; Miyamori, Gou ; Isozumi, Takakatsu ; KANEKO, Kenji ; Hirukawa, Hirohisa
Author_Institution :
Nat. Inst. of Adv. Ind. Sci. & Technol., Ibaraki
Abstract :
In this paper we realize a real-time communication on Ethernet and develop an onbody distributed control system for a humanoid robot, HRP-3P. Real-time communication on Ethernet is realized by (1) a communication method using the data link layer directly and (2) timing control using a real-time operating system ARTLinux. This enables us to reduce the cost of embedded systems and improve developmental efficiency. A CORBA implementation which works on this communication layer is also developed to increase compatibility with existing software. Finally a small-size distributed robot controller is developed for the onbody network of HRP-3P and a distributed I/O system is developed on top of this
Keywords :
Linux; control engineering computing; distributed control; distributed object management; humanoid robots; legged locomotion; local area networks; CORBA; HRP-3P; data link layer; distributed I/O system; distributed robot controller; humanoid robots; onbody distributed control system; real-time Ethernet; real-time operating system ARTLinux; timing control; Communication system control; Control systems; Costs; Distributed control; Embedded system; Ethernet networks; Humanoid robots; Operating systems; Real time systems; Timing;
Conference_Titel :
Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on
Conference_Location :
Beijing
Print_ISBN :
1-4244-0258-1
Electronic_ISBN :
1-4244-0259-X
DOI :
10.1109/IROS.2006.281691
