Design and experiment of an open control system for a humanoid robot

This paper presents an open control system consisting of decision-making system, teleoperation system, and motion control system for humanoid robots. In order to enhance the expandability of the robot, this system supports CANopen protocol. Communication time is reduced effectively via multiple CAN channels in parallel mode. In addition, CANopen driver and Mini Multi-Axis controller are designed complying with DS301. The effectiveness of the proposed open control system is confirmed by walking experiment on our humanoid robot.