TY - GEN
T1 - Dual control network method for efficient real-time humanoid robot control system
AU - Cha, Young Su
AU - You, Bum Jae
PY - 2009
Y1 - 2009
N2 - 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.
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.
UR - http://www.scopus.com/inward/record.url?scp=77950105285&partnerID=8YFLogxK
U2 - 10.1109/ISIE.2009.5218564
DO - 10.1109/ISIE.2009.5218564
M3 - Conference contribution
AN - SCOPUS:77950105285
SN - 9781424443499
T3 - IEEE International Symposium on Industrial Electronics
SP - 1797
EP - 1802
BT - Proceedings - IEEE ISIE 2009, IEEE International Symposium on Industrial Electronics
T2 - IEEE International Symposium on Industrial Electronics, IEEE ISIE 2009
Y2 - 5 July 2009 through 8 July 2009
ER -