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A real-time control system and method for a humanoid robot

A real-time control system and humanoid robot technology, applied in the field of robotics, can solve problems such as inability to meet data traffic, and achieve the effects of ensuring real-time performance and reliability, expanding system bandwidth, and improving accuracy and smoothness.

Inactive Publication Date: 2011-12-28
ZHEJIANG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, with the increase in the number of robot joints and the improvement of the motion data update cycle, the maximum bandwidth of the CAN bus between the motion controller and the joint controller is only 1mbps, which will not be able to meet the demand for data traffic.

Method used

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  • A real-time control system and method for a humanoid robot
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  • A real-time control system and method for a humanoid robot

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Embodiment Construction

[0022] The real-time control system of the humanoid robot of the present invention includes an upper motion controller, several network controllers and several end nodes. Adopting a two-layer network structure, several network controllers are respectively connected to the upper motion controller through real-time Ethernet to form an upper network for communication. Each network controller is respectively connected with several end nodes; it forms multiple lower-level networks, and communicates with the communication method adopted by the end nodes.

[0023] The upper motion controller is responsible for giving control signals and data, sending them to the network controller, and receiving data information from the network controller. The upper motion controller can be implemented by a PC, DSP or embedded system based on the x86 architecture, but it is not limited to this.

[0024] The network controller is responsible for receiving control commands and data from the upper-level mo...

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Abstract

The present invention is a real-time control system and method for a humanoid robot, which includes an upper motion controller, several network controllers and several end nodes, adopts a double-layer network structure, and the upper motion controller and several network controllers form an upper layer The network communicates through a real-time Ethernet network, and each network controller forms a lower-layer network with a number of end nodes respectively, and uses the communication mode adopted by the end nodes to communicate; the present invention connects the upper motion controller and the network controller by using real-time Ethernet, On the basis of ensuring real-time performance, the system bandwidth is expanded, and it is also compatible with general end nodes that use non-real-time Ethernet for communication. By expanding the system bandwidth, the system network signal transmission speed and transmission capacity are improved, so that the overall system can transmit more control instructions at a faster speed, and the control accuracy and smoothness are improved.

Description

Technical field [0001] The invention belongs to the field of robots, and relates to a humanoid robot control system and method, and more specifically, to a humanoid robot control network structure and control method based on real-time Ethernet. technical background [0002] A humanoid robot is a kind of robot that imitates the structure of human bones. The biggest difference between it and other robots is its human-like bipedal movement. Analysis from the perspective of bionics shows that humanoid robots have the advantages of strong adaptability to the environment and flexible actions, and therefore, have broader application and development prospects. [0003] Humanoid robots need to achieve a high degree of flexibility and smoothness of motion, and need to control nearly thirty motors in real time to achieve multiple motions. This requires the robot to have a strong, reliable, real-time and high-bandwidth control network to make accurate and timely motion responses to the extern...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B19/418
CPCY02P90/02
Inventor 孙逸超熊蓉冯冬芹褚健
Owner ZHEJIANG UNIV
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