Please wait, while we are loading the content...
| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Zhangguo Yu Qiang Huang Jianxi Li Xuechao Chen Li, K. |
| Copyright Year | 2008 |
| Description | Author affiliation: Sch. of Aerosp. Sci. & Technol., Intell. Robot. Inst., Beijing (Zhangguo Yu; Qiang Huang; Jianxi Li; Xuechao Chen; Li, K.) |
| Abstract | A humanoid robot generally has more than thirty DOFs to be controlled in real-time and needs to deal with information of multiple sensors such as encoders, force and moment sensors, inertial attitude sensors and vision sensors. Therefore an effective control system is crucial for the humanoid robot. In this paper, we propose a distributed computer system consisting of the online planning sub-system and the real-time motion control sub-system based on CAN bus and Ethernet for humanoid robots. CAN bus is used for distributed real-time motion control and Ethernet is used for non-real-time and large data quantities communication between the online planning and motion control sub-systems. The Windows and RT-Linux are used as operating systems for the online planning and motion control sub-systems respectively. The walking pattern control modifies the planned walking pattern based on sensory information when there are unexpected sudden events. The effectiveness of our proposed computer system and walking pattern control method was confirmed by walking experiments on our newly-built humanoid robot. |
| Starting Page | 1018 |
| Ending Page | 1023 |
| File Size | 216685 |
| Page Count | 6 |
| File Format | |
| ISBN | 9781424424948 |
| DOI | 10.1109/AIM.2008.4601801 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2008-07-02 |
| Publisher Place | China |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Joints Computers Humanoid robots Motion control Real time systems Sensors Robots walking pattern control Humanoid robot distributed control CAN bus Ethernet |
| Content Type | Text |
| Resource Type | Article |
National Digital Library of India (NDLI) is a virtual repository of learning resources which is not just a repository with search/browse facilities but provides a host of services for the learner community. It is sponsored and mentored by Ministry of Education, Government of India, through its National Mission on Education through Information and Communication Technology (NMEICT). Filtered and federated searching is employed to facilitate focused searching so that learners can find the right resource with least effort and in minimum time. NDLI provides user group-specific services such as Examination Preparatory for School and College students and job aspirants. Services for Researchers and general learners are also provided. NDLI is designed to hold content of any language and provides interface support for 10 most widely used Indian languages. It is built to provide support for all academic levels including researchers and life-long learners, all disciplines, all popular forms of access devices and differently-abled learners. It is designed to enable people to learn and prepare from best practices from all over the world and to facilitate researchers to perform inter-linked exploration from multiple sources. It is developed, operated and maintained from Indian Institute of Technology Kharagpur.
Learn more about this project from here.
NDLI is a conglomeration of freely available or institutionally contributed or donated or publisher managed contents. Almost all these contents are hosted and accessed from respective sources. The responsibility for authenticity, relevance, completeness, accuracy, reliability and suitability of these contents rests with the respective organization and NDLI has no responsibility or liability for these. Every effort is made to keep the NDLI portal up and running smoothly unless there are some unavoidable technical issues.
Ministry of Education, through its National Mission on Education through Information and Communication Technology (NMEICT), has sponsored and funded the National Digital Library of India (NDLI) project.
| Sl. | Authority | Responsibilities | Communication Details |
|---|---|---|---|
| 1 | Ministry of Education (GoI), Department of Higher Education |
Sanctioning Authority | https://www.education.gov.in/ict-initiatives |
| 2 | Indian Institute of Technology Kharagpur | Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project | https://www.iitkgp.ac.in |
| 3 | National Digital Library of India Office, Indian Institute of Technology Kharagpur | The administrative and infrastructural headquarters of the project | Dr. B. Sutradhar bsutra@ndl.gov.in |
| 4 | Project PI / Joint PI | Principal Investigator and Joint Principal Investigators of the project |
Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon |
| 5 | Website/Portal (Helpdesk) | Queries regarding NDLI and its services | support@ndl.gov.in |
| 6 | Contents and Copyright Issues | Queries related to content curation and copyright issues | content@ndl.gov.in |
| 7 | National Digital Library of India Club (NDLI Club) | Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach | clubsupport@ndl.gov.in |
| 8 | Digital Preservation Centre (DPC) | Assistance with digitizing and archiving copyright-free printed books | dpc@ndl.gov.in |
| 9 | IDR Setup or Support | Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops | idr@ndl.gov.in |
|
Loading...
|