MAHRU-M: A mobile humanoid robot platform based on a dual-network control system and coordinated task execution

Young Su Cha, Kanggeon Kim, Ji Yong Lee, Joongjae Lee, Minjun Choi, Mun Ho Jeong, Changhwan Kim, Bum Jae You, Sang Rok Oh

Research output: Contribution to journalArticlepeer-review

20 Citations (Scopus)


This paper introduces a mobile humanoid robot platform able to execute various services for humans in their everyday environments. For service in more intelligent and varied environments, the control system of a robot must operate efficiently to ensure a coordinated robot system. We enhanced the efficiency of the control system by developing a dual-network control system. The network system consists of two communication protocols: high-speed IEEE 1394, and a highly stable Controller Area Network (CAN). A service framework is also introduced for the coordinated task execution by a humanoid robot. To execute given tasks, various sub-systems of the robot were coordinated effectively by this system. Performance assessments of the presented framework and the proposed control system are experimentally conducted. MAHRU-M, as a platform for a mobile humanoid robot, recognizes the designated object. The object's pose is calculated by performing model-based object tracking using a particle filter with back projection-based sampling. A unique approach is used to solve the human-like arm inverse kinematics, allowing the control system to generate smooth trajectories for each joint of the humanoid robot. A mean-shift algorithm using bilateral filtering is also used for real-time and robust object tracking. The results of the experiment show that a robot can execute its services efficiently in human workspaces such as an office or a home.

Original languageEnglish
Pages (from-to)354-366
Number of pages13
JournalRobotics and Autonomous Systems
Issue number6
Publication statusPublished - 2011 Jun
Externally publishedYes

Bibliographical note

Funding Information:
This work was supported by KIST [Development of Self-Learning Technologies of Human Task Skills using Cognitive Models] and by the IT R&D program of MKE [ 2006-S-028-01 , Development of Cooperative Network-based Humanoids Technology ]. Also, this research was supported by Basic Science Research Program through the National Research Foundation of Korea (NRF) funded by the Ministry of Education, Science and Technology ( 2010-0025746 ).


  • Control system
  • Humanoid robot
  • Task execution

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • General Mathematics
  • Computer Science Applications


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