Abstract
In this paper we describe the design and construction of a distributed controller network for the humanoid robot ”Archie”. The mechanical design of the robot incorporates 6 DOF per leg, 6 DOF per arm and 3 DOF for the torso and the head respectively. The network consists of 3 subnetworks, each including a set of dedicated processing nodes interconnected by a CAN bus. This partitioning into levels of competence guarentees failure tolerance and reliability and minimizes communication overhead even on heavy load conditions.
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References
Humanoid Robotics Project, http://www.plyojump.com/hrp.html
Open PINO Platform, http://www.symbio.jst.go.jp/PINO/index.html
The Robert Bosch CAN web site, http://www.can.bosch.com
BASIC Stamp Microcontrollers, http://www.parallax.com/
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© 2005 Springer-Verlag Berlin Heidelberg
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Kopacek, P., Schierer, E., Wuerzl, M. (2005). A Controller Network for a Humanoid Robot. In: Moreno Díaz, R., Pichler, F., Quesada Arencibia, A. (eds) Computer Aided Systems Theory – EUROCAST 2005. EUROCAST 2005. Lecture Notes in Computer Science, vol 3643. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11556985_77
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DOI: https://doi.org/10.1007/11556985_77
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-29002-5
Online ISBN: 978-3-540-31829-3
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