Embedded Software Framework of a Smart Robotic Limb Controller used in Half Humanoid

The half humanoid is intended to mimic crew activity during the test flights of India's manned mission. This paper focuses on the development and realization of the embedded software for a limb controller, that closely co-ordinates with the main master computer and achieves accurate and human like movements of the limbs, viz hands and neck of the Half Humanoid. The Limb controller achieves precise movement of the joint actuators, by commanding them in the real-time, at typical rate of 100 Hz. Besides the spatial constraints on the motion, there are temporal attributes of the motion of each joint. Limb controller software framework is configured to operate as a semi-autonomous system, that plans the real time motion of the actuator based on the trajectory profile received from the master computer.