Design of Efficient In-Hand Network (IHN) Architecture for Humanoid

Abstract

A stable In-Robot Network (IRN) architecture is required for a humanoid that mimics the human appearance to move like a human. The humanoid is equipped with lots of devices including sensors and actuators. Among the delicate human body organs, we focused on the hand. And we designed an In-Hand Network (IHN) architecture to make the humanoid hand anthropomorphic. In this paper, the communication requirements of the IHN architecture are proposed, and the architecture is designed based on them. Afterward, data reduction is performed to prevent switch overload and future research plans are presented.