小型双足机器人YABIRO的分布式实时体系结构

2005 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2005-06-27 DOI:10.1109/CIRA.2005.1554351

M. Gil, F. Blanes, G. Benet, P. Perez, José-Enrique Simó-Ten, J. Coronel

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引用次数: 8

摘要

在本文中，我们提出了一种用于移动双足机器人YABIRO的嵌入式控制系统的实时架构。该机器人总共有14个自由度。这个数量的关节使YABIRO能够产生许多不同的步态配置，也适合测试和验证所提出的实时控制体系结构。在分布式体系结构的每个节点上设计并实现了一种新的嵌入式智能电机控制器(IMCD)，以在实时网络中工作。

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Distributed real time architecture for small biped robot YABIRO

In this paper, we present a real time architecture for embedded control systems to be used in a mobile biped robot called YABIRO. The robot has a total of 14 degrees of freedom (DOF). This number of joints enables YABIRO to produce many different gait configurations, and is also suitable to test and validate the proposed real time control architecture. A new embedded intelligent motor controller (IMCD) has been also designed and implemented in each joint node of the distributed architecture, to work inside the real time network.

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来源期刊

2005 International Symposium on Computational Intelligence in Robotics and Automation

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