A controller network for a humanoid robot

被引：0
|
作者：
Kopacek, P [1 ]
Schierer, E [1 ]
Wuerzl, M [1 ]
机构：
[1] Vienna Tech Univ, Inst Mech & Mechatron, Dept Intelligent Handling & Robot, A-1040 Vienna, Austria
来源：
COMPUTER AIDED SYSTEMS THEORY - EUROCAST 2005 | 2005年 / 3643卷
关键词：
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
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.
引用
收藏
页码：584 / 589
页数：6
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