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A modular and distributed embedded control architecture for humanoid robots

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4 Author(s)
Ly, D.N. ; Res. Center for Information Technol., Karlsruhe, Germany ; Regenstein, K. ; Asfour, T. ; Dillmann, R.

In this paper we present a modular and distributed control architecture in order to achieve natural interaction and mobile manipulation task goals for a humanoid robot. We propose a hierarchically organized architecture with three levels and introduce the mapping of the functional features in this architecture into hardware and software modules. We also describe different functional features which have been realized and integrated into the whole control architecture.

Published in:

Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on  (Volume:3 )

Date of Conference:

28 Sept.-2 Oct. 2004

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