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A Compact/Open Network-Based Controller Incorporating Modular Software Architecture for a Humanoid Robot

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Abstract

This paper presents the design of a compact/open network-based controller incorporating modular software architecture for various kinds of robot applications. Within the proposed controller scheme, a standardized real-time network like CAN connects the central motion control part and the servo control part. Thus, the size of the servo controller becomes small enough to be attached inside the robot body and the control software can be designed with an open and modular concept. The open/compact controller incorporating a modular software architecture offers benefits of reduced engineering costs. The proposed architecture has been implemented on a KIST humanoid robot controller platform and its performance has been verified through experimental tests.

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Authors and Affiliations

  1. Intelligent Systems Control Research Center, Korea Institute of Science and Technology, P.O. Box 131, Cheongryang, Seoul, Korea

    Young-Jo Cho, Bum-Jae You, Sang-Rok Oh & Chong Won Lee

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  1. Young-Jo Cho
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  2. Bum-Jae You
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  3. Sang-Rok Oh
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  4. Chong Won Lee
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Cho, YJ., You, BJ., Oh, SR. et al. A Compact/Open Network-Based Controller Incorporating Modular Software Architecture for a Humanoid Robot. Journal of Intelligent and Robotic Systems 25, 341–355 (1999). https://doi.org/10.1023/A:1008187330758

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  • DOI: https://doi.org/10.1023/A:1008187330758

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