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2006
IEEE

Distributed Control System of Humanoid Robots based on Real-time Ethernet

9 years 5 months ago
Distributed Control System of Humanoid Robots based on Real-time Ethernet
— 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.
Fumio Kanehiro, Yoichi Ishiwata, Hajime Saito, Kaz
Added 12 Jun 2010
Updated 12 Jun 2010
Type Conference
Year 2006
Where IROS
Authors Fumio Kanehiro, Yoichi Ishiwata, Hajime Saito, Kazuhiko Akachi, Gou Miyamori, Takakatsu Isozumi, Kenji Kaneko, Hirohisa Hirukawa
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