Industrial automation based approach to design control system of the humanoid robot.

摘要

This paper presents an advanced control system for the humanoid robot. The main advantage of the proposed control architecture is the use of the standardized and frequently used in the automation industry solutions and commercial available hardware components. It provides the scalability, the modularity and the application of standardized interfaces and brings the design of the complex control system of the humanoid robot from a closed laboratory to the industry. The main parts of the proposed control system, such as hardware and software architectures and communication infrastructure are presented. As well as some aspects of the humanoid robot walking control from the automation side are discussed. The designed control system was implemented with the Rh-1 humanoid platform, the second phase of the Rh project, which have been launched by the Robotics Lab at the University Carlos III of Madrid at 2002.