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Distributed Control System of Humanoid Robots based on Real-time Ethernet

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8 Author(s)
Kanehiro, F. ; Nat. Inst. of Adv. Ind. Sci. & Technol., Ibaraki ; Ishiwata, Y. ; Saito, H. ; Akachi, K.
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In this paper we realize a real-time communication on Ethernet and develop an onbody distributed control system for a humanoid robot, HRP-3P. Real-time communication on Ethernet is realized by (1) a communication method using the data link layer directly and (2) timing control using a real-time operating system ARTLinux. This enables us to reduce the cost of embedded systems and improve developmental efficiency. A CORBA implementation which works on this communication layer is also developed to increase compatibility with existing software. Finally a small-size distributed robot controller is developed for the onbody network of HRP-3P and a distributed I/O system is developed on top of this

Published in:

Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on

Date of Conference:

9-15 Oct. 2006