Browse > Article
http://dx.doi.org/10.5391/JKIIS.2006.16.4.485

Network Realization for a Distributed Control of a Humanoid Robot  

Lee Bo-Hee (세명대학교 전기공학과)
Kong Jung-Shik (인하대학교 자동화공학과)
Kim Jin-Geol (인하대학교 전자전기공학부)
Publication Information
Journal of the Korean Institute of Intelligent Systems / v.16, no.4, 2006 , pp. 485-492 More about this Journal
Abstract
This paper deals with implementation of network for distributed control system of a humanoid robot ISHURO(Inha Semyung Humanoid Robot). A humanoid robot needs much degree of freedom structurally and much data for having flexible movement. To realize such a humanoid robot, distributed control method is preferred to the centralized one since it gives a compactness, modularity and flexibility for the controllers. For organizing distributed control system of a humanoid robot, a control processor on a board is needed to individually control the joint motor and communication technology between the processors is required to transmit its information within control time. The processor is DSP-based processor and includes CAN network on a chip. It shares the computational load such as monitoring the sensor information and controlling the actuator between each of modules. In this paper, the communication architecture is suggested and its message protocol are discussed including message structure, time consumption for transmission, and controller structure at the view of distributed control for a humanoid robot. All of the sequence are simulated with Matlab and then verified with real walking experiment by ISHURO.
Keywords
CAN network; Humanoid robot; Distributed Con trol; DSP-based processor;
Citations & Related Records
연도 인용수 순위
  • Reference
1 Jung-Yup Kim, Ill-Woo Park, Jungho Lee, Min-Su Kim, Baek-kyu Cho, and Jun-Ho Oh, 'System Design and Dynamic Walking of Humanoid Robot KHR-2,' 2005 IEEE Int. Conference on Robotics and Automation, Spain, pp. April, 1443-1448, 2005
2 Ni Xiaodong, Zhang Yanjun, 'Determining message delivery delay of controller area networks,' Proceedings. 2002 IEEE Region 10 Conference on Computers, Communications, Control and Power Engineering, vol.2, pp. 767-771, Oct.28-31, 2002
3 S. Misbahuddin, N. AI-Holou, 'Efficient data communication techniques for controller area network (CAN) protocol,' Computer Systems and Applications, 2003. Book of Abstracts. ACS/IEEE International Conference on, pp.22, 14-18 July 2003
4 이경창, 김정희, 이홍희, '스마트 홈을 위한 CAN기반 화재 감시 시스템의 구현,' 제어.자동화.시스템공학 논문지, 제10권 제8호, Aug. 2004
5 K.W. Tindell, H. Hansson, A.J. Wellings, 'Analysing real-time communications: controller area network (CAN),' Proceedings of Real-Time Systems Symposium, pp.259-263, Dec.7-9, 1994   DOI
6 N. Kanehira, T.U. Kawasaki, S. Ohta, T Ismumi, T. Kawada, F. Kanehiro, S. Kajita, K. Kaneko, 'Design and experiments of advanced leg module (HRP-2L) for humanoid robot (HRP-2) development,' IEEE/RSJ International Conference on Intelligent Robots and System, vol.3, pp.2455-2460, Sept.30-Oct.5, 2002   DOI
7 T. Fukaushima, Y. Kuroki, T. Ishida, 'Development of a new actuator for a small biped walking entertainment robot,' Power Electronics, Machines and Drives, PEMD 2004, vol.1, pp. 126-131, 2004
8 Y. Kuroki, B. Blank, T. Mikami, P. Mayeux, A. Miyamoto, 'Motion creating system for a small biped entertainment robot,' Proceedings of 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, vol.2, pp.1394-1399, Oct.27-31, 2003
9 Y. Sakagami, R. Watanabe, C. Aoyama, S. Matsunaga, N. Higaki, K. Fujimura, 'The intelligent ASIMO: system overview and integration,' IEEE/RSJ International Conference on Intelligent Robots and Systems, vol.3, pp.2478-2483, Sept.30-Oct.5, 2002   DOI
10 M. Santos, M. Stemmer, F. Vasques, 'Schedulability analysis of messages in a CAN network applied to an unmanned airship,' IEEE 2002 28th Annual Conference of the IECON 02, vol.3, pp.1909-1914, Nov.5-8, 2002   DOI
11 L. Sha, R. Rajkumar, J.P. Lehoczky, 'Priority inheritance protocols: an approach to real-time synchronization,' IEEE Transactions on Computers, vol.39, pp. 1175 - 1185, Sept. 1990   DOI   ScienceOn
12 J.A Fonseca, L.M. Almeida, 'Using a planning scheduler in the CAN network,' Proceedings of the 1999 IEEE International Conference on Emerging Technologies and Factory Automation, vol.2, pp.815-821, Oct.18-21, 1999
13 박진우 외 4인, 'CAN을 이용한 분산제어 구조를 가지는 이동 로봇 구현,' 1999년도 대한전자공학회 한국통신학회 부산경남지부 합동 학술논문발표회 논문집, 251-255, 1999
14 최영진, 류제훈, 오용환, 유범재, 오상록, '소형휴머노이드 '베이비봇' 개발,' ICASE Magazine, Vol. 10, No.4, pp. 29-34, July, 2004
15 A. Cervin, D. Henriksson, B. Lincoln, J. Eker, K.E. Arzen, 'How does control timing affect performance? Analysis and simulation of timing using Jitterbug and TrueTime,' Control Systems Magazine, IEEE, pp. 16-30, vol.23, Issue:3, June 2003   DOI   ScienceOn
16 T. Ishida, Y. Kuroki, 'Motion and real-world sensing system of a small biped entertainment robot,' Intelligent Control and Automation, WCICA 2004, vol.6, pp. 4834 - 4839, 2004
17 조영조, 오상록, '지능형 서비스 로봇과 URC (Ubiquitous Robotic Companion),' 한국통신학회지, vol.21, pp.13-21, Oct. 2004   과학기술학회마을