A decentralized real-time control for biped robot

被引：2

作者：

Suzuki, J ^{[1
]}

Ito, D ^{[1
]}

Kageyama, T ^{[1
]}

Morisawa, L ^{[1
]}

Ohnishi, K ^{[1
]}

机构：

[1] Keio Univ, Fac Sci & Technol, Dept Syst Design Engn, Yokohama, Kanagawa 223, Japan

来源：

7TH INTERNATIONAL WORKSHOP ON ADVANCED MOTION CONTROL, PROCEEDINGS | 2002年

关键词：

D O I：

10.1109/AMC.2002.1026893

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper describes a structure of a decentralized control for a biped robot system. The biped robot is regarded as the aggregation of some subsystems. A biped walking is implemented by contacting an environment alternately. The environment consists of various objects with a dynamic characteristic, In other words, there are numerous modes in the environment. Therefore, the mode of the environment should be extracted properly in order to realize a stable walking, A certain mode acts on the COG(center of gravity) directly. It is necessary to communicate each mode to the subsystems which need its mode at hard real time on condition that there is no priority in information. This paper discusses a general structure of decentralized control which information is required to communicate at hard real time. The performance of proposed method is confirmed by the developed simulator.

引用

页码：69 / 73

页数：5

共 50 条

[21] Decentralized, modular real-time control for machining applications
Yook, J
Tilbury, D
Chervela, K
Soparkar, N
[J]. PROCEEDINGS OF THE 1998 AMERICAN CONTROL CONFERENCE, VOLS 1-6, 1998, : 844 - 849
[22] Real-time Decentralized Voltage Control in Distribution Networks
Li, Na
Qu, Guannan
Dahleh, Munther
[J]. 2014 52ND ANNUAL ALLERTON CONFERENCE ON COMMUNICATION, CONTROL, AND COMPUTING (ALLERTON), 2014, : 582 - 588
[23] Decentralized Real-Time Control Algorithms for an AGV System
Klaas, Alexander
Aufenanger, Mark
Ruengener, Nando
Dangelmaier, Wilhelm
[J]. NEW ADVANCES IN INTELLIGENT DECISION TECHNOLOGIES, 2009, 199 : 223 - +
[24] Decentralized utilization control in distributed real-time systems
Wang, XR
Jia, D
Lu, CY
Koutsoukos, X
[J]. RTSS 2005: 26TH IEEE INTERNATIONAL REAL-TIME SYSTEMS SYMPOSIUM, PROCEEDINGS, 2005, : 133 - 142
[25] Asynchronous Real-time Decentralized Multi-Robot Trajectory Planning
Senbaslar, Baskin
Sukhatme, Gaurav S.
[J]. 2022 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), 2022, : 9972 - 9979
[26] Robot control in hard real-time environment
Buttazzo, G
Conticelli, F
Lamastra, G
Lipari, G
[J]. FOURTH INTERNATIONAL WORKSHOP ON REAL-TIME COMPUTING SYSTEMS AND APPLICATIONS, PROCEEDINGS, 1997, : 152 - 159
[27] Real-Time Predictive Control of a Brachiation Robot
de Oliveira, Vinicius Menezes
Lages, Walter Fetter
[J]. 2009 IEEE CONFERENCE ON EMERGING TECHNOLOGIES & FACTORY AUTOMATION (EFTA 2009), 2009,
[28] Application of hybrid fast marching method to determine the real-time path for the biped robot
Ravi Kumar Mandava
Mrudul Katla
Pandu R. Vundavilli
[J]. Intelligent Service Robotics, 2019, 12 : 125 - 136
[29] Application of hybrid fast marching method to determine the real-time path for the biped robot
Mandava, Ravi Kumar
Katla, Mrudul
Vundavilli, Pandu R.
[J]. INTELLIGENT SERVICE ROBOTICS, 2019, 12 (01) : 125 - 136
[30] Development of EtherCAT real-time control system for robot based on Simulink Real-Time
Wang, Song
Yang, Xudong
van der Geer, J.
[J]. JOURNAL OF COMPUTATIONAL METHODS IN SCIENCES AND ENGINEERING, 2021, 21 (01) : 49 - 57

← 1 2 3 4 5 →