Dual control network method for efficient real-time humanoid robot control system

Young Su Cha; Bum Jae You

doi:10.1109/ISIE.2009.5218564

Dual control network method for efficient real-time humanoid robot control system

Young Su Cha, Bum Jae You

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

4 Citations (Scopus)

Abstract

In this paper, a new control network method for real-time humanoid robot control system is proposed. The network method consists of dual structure and it is implemented with two communication protocol: high speed over lOOMbps IEEE 1394, and Controller Area Network (CAN) strong in noisy environment. The main advantages of the control network are represented by a high communication speed and low noise sensitivity. In addition the communication delay in control network is considerably reduced. The control network method is validated in robot control system humanoid robot MAHRU. The robot equipped by several motors represents the best experimental platform for testing high power motor control and correlated noise.

Original language	English
Title of host publication	Proceedings - IEEE ISIE 2009, IEEE International Symposium on Industrial Electronics
Pages	1797-1802
Number of pages	6
DOIs	https://doi.org/10.1109/ISIE.2009.5218564
Publication status	Published - 2009
Externally published	Yes
Event	IEEE International Symposium on Industrial Electronics, IEEE ISIE 2009 - Seoul, Korea, Republic of Duration: 2009 Jul 5 → 2009 Jul 8

Publication series

Name	IEEE International Symposium on Industrial Electronics

Conference

Conference	IEEE International Symposium on Industrial Electronics, IEEE ISIE 2009
Country/Territory	Korea, Republic of
City	Seoul
Period	09/7/5 → 09/7/8

ASJC Scopus subject areas

Electrical and Electronic Engineering
Control and Systems Engineering

Access to Document

10.1109/ISIE.2009.5218564

Cite this

Dual control network method for efficient real-time humanoid robot control system. / Cha, Young Su; You, Bum Jae.
Proceedings - IEEE ISIE 2009, IEEE International Symposium on Industrial Electronics. 2009. p. 1797-1802 5218564 (IEEE International Symposium on Industrial Electronics).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Cha, YS & You, BJ 2009, Dual control network method for efficient real-time humanoid robot control system. in Proceedings - IEEE ISIE 2009, IEEE International Symposium on Industrial Electronics., 5218564, IEEE International Symposium on Industrial Electronics, pp. 1797-1802, IEEE International Symposium on Industrial Electronics, IEEE ISIE 2009, Seoul, Korea, Republic of, 09/7/5. https://doi.org/10.1109/ISIE.2009.5218564

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abstract = "In this paper, a new control network method for real-time humanoid robot control system is proposed. The network method consists of dual structure and it is implemented with two communication protocol: high speed over lOOMbps IEEE 1394, and Controller Area Network (CAN) strong in noisy environment. The main advantages of the control network are represented by a high communication speed and low noise sensitivity. In addition the communication delay in control network is considerably reduced. The control network method is validated in robot control system humanoid robot MAHRU. The robot equipped by several motors represents the best experimental platform for testing high power motor control and correlated noise.",

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AB - In this paper, a new control network method for real-time humanoid robot control system is proposed. The network method consists of dual structure and it is implemented with two communication protocol: high speed over lOOMbps IEEE 1394, and Controller Area Network (CAN) strong in noisy environment. The main advantages of the control network are represented by a high communication speed and low noise sensitivity. In addition the communication delay in control network is considerably reduced. The control network method is validated in robot control system humanoid robot MAHRU. The robot equipped by several motors represents the best experimental platform for testing high power motor control and correlated noise.

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Dual control network method for efficient real-time humanoid robot control system

Abstract

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Conference

ASJC Scopus subject areas

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