Title :
Design and Implementation of Humanoid Robot Controller Based on CAN
Author :
Zhong, Hua ; Wu, Zhenwei ; Li, Bin ; Bu, Chunguang ; Li, Yanjie
Author_Institution :
Shenyang Inst. of Autom., Chinese Acad. of Sci., Shenyang
Abstract :
Aiming at humanoid robot structure and requirement for control performance, this paper designs and realizes joint controller based on CAN, and structures an effective credible control system by connecting controllers, force sensors and harmonious level computer together. This paper includes mainly: overall structure of the system, design and implementation of hardware and software, topology of control system, and bring forward some imaginations to enhance performance of the system
Keywords :
control system synthesis; controller area networks; humanoid robots; controller area network; humanoid robot controller; Automatic control; Control systems; Force control; Force sensors; Hardware; Humanoid robots; Neck; Robot control; Robotics and automation; Transceivers; CAN; MCU; humanoid robot;
Conference_Titel :
Robotics and Biomimetics, 2004. ROBIO 2004. IEEE International Conference on
Conference_Location :
Shenyang
Print_ISBN :
0-7803-8614-8
DOI :
10.1109/ROBIO.2004.1521856
