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A Controller Network for a Humanoid Robot

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Computer Aided Systems Theory – EUROCAST 2005 (EUROCAST 2005)

Part of the book series: Lecture Notes in Computer Science ((LNTCS,volume 3643))

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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

  1. Humanoid Robotics Project, http://www.plyojump.com/hrp.html

  2. Open PINO Platform, http://www.symbio.jst.go.jp/PINO/index.html

  3. The Robert Bosch CAN web site, http://www.can.bosch.com

  4. BASIC Stamp Microcontrollers, http://www.parallax.com/

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Author information

Authors and Affiliations

  1. Department of Intelligent Handling and Robotics, Vienna University of Technology,Institute for Mechanics and Mechatronics, E325/A6, Favoritenstrasse, 9 – 11, 1040, Vienna

    Peter Kopacek, Edmund Schierer & Markus Wuerzl

Authors
  1. Peter Kopacek
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  2. Edmund Schierer
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  3. Markus Wuerzl
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Editor information

Editors and Affiliations

  1. Instituto Universitario de Ciencias y Tecnologícas Cibernéticas, Universidad de Las Palmas de Gran Canaria, Campus de Tafira, 35017, Las Palmas de Gran Canaria,, Las Palmas, Spain

    Roberto Moreno Díaz

  2. Systems Theory, Johannes Kepler University Linz, Altenbergerstrasse 69, A-4040, Linz, Austria

    Franz Pichler

  3. Universidad de Las Palmas de Gran Canaria, Instituto Universitario de Ciencias y Tecnologícas Cibernéticas, Campus de Tafira, 35017, Las Palmas de Gran Canaria, Las Palmas, Spain

    Alexis Quesada Arencibia

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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

  • eBook Packages: Computer ScienceComputer Science (R0)

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