The realization of a real-time distributed control systems using IEEE-1394 for humanoid robot

Young Su Cha; Eun Ho Seo; Doik Kim; Bum Jae You

doi:10.1109/ROBIO.2010.5723328

The realization of a real-time distributed control systems using IEEE-1394 for humanoid robot

Young Su Cha, Eun Ho Seo, Doik Kim, Bum Jae You

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

Abstract

In this paper, we introduce the realization of a IEEE-1394 real-time distributed control system and a motor controller for a humanoid robot. The realization of the realtime distributed control system is executed in the humanoid robot MAHRU, developed by Korea Institute of Science and Technology. Also, we point out that bus reset problem of IEEE-1394 can result in a control break in a humanoid robot. By measuring the eye-diagram of the communication protocol, we check to deteriorate the communication environment of a robot. This results from interference of electromagnetic noises by high power motors and causes bus reset problem. We propose recovery remapping method as a solution of the problem. This way is to restore the IEEE-1394 communication environment by instantly bus remapping without the loss of control time.

Original language	English
Title of host publication	2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
Pages	207-211
Number of pages	5
DOIs	https://doi.org/10.1109/ROBIO.2010.5723328
Publication status	Published - 2010
Externally published	Yes
Event	2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010 - Tianjin, China Duration: 2010 Dec 14 → 2010 Dec 18

Publication series

Name	2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010

Conference

Conference	2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
Country/Territory	China
City	Tianjin
Period	10/12/14 → 10/12/18

ASJC Scopus subject areas

Artificial Intelligence
Biotechnology
Human-Computer Interaction

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10.1109/ROBIO.2010.5723328

Cite this

Cha, Y. S., Seo, E. H., Kim, D., & You, B. J. (2010). The realization of a real-time distributed control systems using IEEE-1394 for humanoid robot. In 2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010 (pp. 207-211). Article 5723328 (2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010). https://doi.org/10.1109/ROBIO.2010.5723328

The realization of a real-time distributed control systems using IEEE-1394 for humanoid robot. / Cha, Young Su; Seo, Eun Ho; Kim, Doik et al.
2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010. 2010. p. 207-211 5723328 (2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010).

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

Cha, YS, Seo, EH, Kim, D & You, BJ 2010, The realization of a real-time distributed control systems using IEEE-1394 for humanoid robot. in 2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010., 5723328, 2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010, pp. 207-211, 2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010, Tianjin, China, 10/12/14. https://doi.org/10.1109/ROBIO.2010.5723328

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abstract = "In this paper, we introduce the realization of a IEEE-1394 real-time distributed control system and a motor controller for a humanoid robot. The realization of the realtime distributed control system is executed in the humanoid robot MAHRU, developed by Korea Institute of Science and Technology. Also, we point out that bus reset problem of IEEE-1394 can result in a control break in a humanoid robot. By measuring the eye-diagram of the communication protocol, we check to deteriorate the communication environment of a robot. This results from interference of electromagnetic noises by high power motors and causes bus reset problem. We propose recovery remapping method as a solution of the problem. This way is to restore the IEEE-1394 communication environment by instantly bus remapping without the loss of control time.",

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The realization of a real-time distributed control systems using IEEE-1394 for humanoid robot

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