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1、Distributed Control System Design for Humanoid RobotsAbstractA humanoid robot with multiple sensors needs a control system with severe requests like real-time control and friendly man-computer interaction. In this paper, we propose a distributed control system consisting of double PC control sub-sys
2、tem based on CAN bus for humanoid robot. The control system is divided into three layers. As the main control layer, double PC control architecture is formed with two sub-systems. Man-machine interface sub-system under Windows OS aims at controller debugging and information observation, meanwhile re
3、al-time motion control sub-system under RT-Linux OS is developed for real-time motion control realization. The communication layer based on CAN bus assures the reliable communication between real-time computer and joint controllers. The actuating layer is responsible for joint servo control and sens
4、ory data acquisition. At last, the experiment is implemented on newly-build humanoid robot MIH-2. Joint motor testing under Windows OS confirms the effectiveness of humanoid robot debugging and accuracy of data acquisition. Real-time control system testing based on RT-Linux OS demonstrates that the
5、system can provide stationary time-lag ensuring the stability during the walking pattern control for humanoid robot. The experiment results show that the presented control system can meet all the requests during the humanoid robot walking control. INTRODUCTIONWith the development and maturity of rob
6、ot technology, humanoid robot with multi-sensors has gradually become another hotspot in this field 1. Generally, a humanoid robot has more than thirty DOFs (degree of freedom) to be servo-actuated and should deal with multiple sensor information, which requires reliable and stable control system wi
7、th high computing speed.Great breakthrough such as well-known humanoid robots P3 2, ASIMO and HRPs has been achieved thanks to the efforts of many institutes and researchers 3. Many of the robots adopt centralized control system that places a computer and an interface board which has A/D, D/A at the
8、 center. Controllers of the motor and sensors are all connected to the computer directly. System with this architecture has very high communication speed, which can be controlled by simple software. However, the wires connected to the central computer are too excessive to assure the reliability and
9、stability during the control of walking pattern from the perspective of hardware. In terms of the humanoid robot requiring high real-time control, the redundant wires increase the susceptibility to noise and wiring that undermines the basic stationary time-lag for real-time control. In the case of a
10、dding a new servo module to the body, all wires need to be connected to the central computer which means the overall arrangement of existed wires should be changed 4. In order to solve these problems, the concept of distributed control system with simple hardware connection has been brought forward
11、5.In this paper, we propose a distributed control system based on CAN bus and double PC control architecture to solve the problem of stability and reliability during real-time control of the humanoid robot. Through the double PC control design, performance of the whole system is also optimized. We a
12、dopt centralized management and distributed control model in our system that can be divided into 3 layers based on architecture and function. Main control layer is formed with double OS (operating system) to acquire the advantages of Windows OS and also ensure the stable real-time control. Thereinto
13、, Windows OS aiming at controller debugging and information observation provides friendly man-machine interface and meanwhile RT-Linux OS realizes the real-time motion control. Actuating layer is integrated on the robot body to implement specific servo control, motor actuation and signal acquisition
14、. Communication layer takes responsibility for data exchange between main control layer and actuating layer. Double PCs and every I/O node of controllers are all connected with CAN bus to satisfy high-speed and reliable communication. CAN bus consists of two wires and maintains 1Mbps speed under dis
15、tance of 40m. These advantages make it possible for humanoid robot to simplify its overall arrangement of wire while keeping its original properties. Because of the whole design concept that regards every controller module as an I/O node, it is very easy to add a motor or sensor so long as the capac
16、ity of the network is sufficient.As a whole, the remainder of this paper is organized as follows. The overview of the whole control system is described in Section . Every control layer is specified in this part. In Section , we present the concrete operating process of the most important layermain control layer. Functions of Windows OS and RT-Linux OS are introduced in this part as well as their realization methods. The specific experiment implementation of joint motor testi
