Distributed real time architecture for small biped robot YABIRO.

摘要

In this paper, we present a real time architecture for embedded control systems to be used in a mobile biped robot called YABIRO. The robot has a total of 14 degrees of freedom (DOF). This number of joints enables YABIRO to produce many different gait configurations, and is also suitable to test and validate the proposed real time control architecture. A new embedded intelligent motor controller (IMCD) has been also designed and implemented in each joint node of the distributed architecture, to work inside the real time network.