대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 2004년도 하계학술대회 논문집 D
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- Pages.2397-2399
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- 2004
휴머노이드 로봇의 네트워크 구조 구현
Implementation of network architecture for a humanoid robot
- Sung, Yu-Kyoung (Department of Electrical Engineering, Inha University) ;
- Kong, Jung-Shik (Department of Automation, Inha University) ;
- Lee, Bo-Hee (School of Electrical Engineering, Semyung University) ;
- Kim, Jin-Geol (School of Electrical Engineering, Inha University)
- 발행 : 2004.07.14
초록
This paper deals with the messages scheduling of a CAN (Controller Area Network), based on the distributed control scheme to integrate actuators and sensors in a humanoid robot. In order to supply the distributed processing for a humanoid robot, each control unit should have the efficient control method, fast calculation and valid data exchange. The preliminary study has concluded that the performance of CAN is better and easier to implement than other network such as FIP (Factory Instrumentation Protocol), VAN (Vehicle Area Network), etc. Since humanoid robot has to treat the significant control signals from many actuators and sensors, the communication time limitation could be critical according to the transmission speed and data length of CAN specification. In this paper, the CAN message scheduling in humanoid robot was suggested under the presence of Jitter in the message group, the existence of high load of messages over the network and the presence of transmission errors. In addition, the response time under the worst case is compared with the simulation by using the simulation algorithm. As a result, the suggested messages scheduling can guarantee our CAN limitation, and utilized to generate the walking patterns for the humanoid.
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