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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Young-Su Cha Eun-Ho Seo Doik Kim Bum-Jae You |
| Copyright Year | 2010 |
| Description | Author affiliation: Cognitive Robotics Center, Korea Institute of Science and Technology, Seoul, Korea (Young-Su Cha; Eun-Ho Seo; Doik Kim; Bum-Jae You) |
| Abstract | In this paper, we introduce the realization of a IEEE-1394 real-time distributed control system and a motor controller for a humanoid robot. The realization of the real-time distributed control system is executed in the humanoid robot MAHRU, developed by Korea Institute of Science and Technology. Also, we point out that bus reset problem of IEEE-1394 can result in a control break in a humanoid robot. By measuring the eye-diagram of the communication protocol, we check to deteriorate the communication environment of a robot. This results from interference of electromagnetic noises by high power motors and causes bus reset problem. We propose recovery remapping method as a solution of the problem. This way is to restore the IEEE-1394 communication environment by instantly bus remapping without the loss of control time. |
| Starting Page | 207 |
| Ending Page | 211 |
| File Size | 1088709 |
| Page Count | 5 |
| File Format | |
| ISBN | 9781424493197 |
| e-ISBN | 9781424493180 |
| DOI | 10.1109/ROBIO.2010.5723328 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2010-12-14 |
| Publisher Place | China |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Humanoid robots Real time systems IEEE 1394 Standard Bit error rate Distributed control |
| Content Type | Text |
| Resource Type | Article |
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