Distributed control system of humanoid robots based on real-time ethernet
F Kanehiro, Y Ishiwata, H Saito… - 2006 IEEE/RSJ …, 2006 - ieeexplore.ieee.org
2006 IEEE/RSJ International Conference on Intelligent Robots and …, 2006•ieeexplore.ieee.org
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 …
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 …
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
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