The realization of a real-time distributed control systems using IEEE-1394 for humanoid robot

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.

[1]  Johannes Weber,et al.  Why IEEE 1394 (“FireWire”) might not be a perfect choice for factory automation today - a case study from the printing industry , 2008, 2008 IEEE International Conference on Emerging Technologies and Factory Automation.

[2]  Jiang Shan.  Neural Locomotion Controller Design and Implementation for Humanoid Robot HOAP-1 ○ , 2022 .

[3]  Masahiro Fujita,et al.  A small biped entertainment robot exploring attractive applications , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[4]  Hirochika Inoue,et al.  Humanoid robotics platforms developed in HRP , 2004, Robotics Auton. Syst..

[5]  Masoud Salehi,et al.  Communication Systems Engineering , 1994 .

[6]  K. Ookubo,et al.  A Transceiver Using Simplex Plastic Optical Fiber For IEEE 1394 , 1998, International 1998 Conference on Consumer Electronics.

[7]  Fumio Kanehiro,et al.  Distributed Control System of Humanoid Robots based on Real-time Ethernet , 2006, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[8]  ChangHwan Kim,et al.  An IEEE-1394 Based Real-time Robot Control System for Efficient Controlling of Humanoids , 2006, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[9]  Jung-Shik Kong,et al.  Messages scheduling for a humanoid robot in the CAN , 2004, 30th Annual Conference of IEEE Industrial Electronics Society, 2004. IECON 2004.

[10]  Ieee Standards Board.  IEEE Standard for a High Performance Serial Bus-Amendment 1 , 2000 .

[11]  Qiang Huang,et al.  Distributed Control System for a Humanoid Robot , 2007, 2007 International Conference on Mechatronics and Automation.

[12]  Ravishankar K. Iyer,et al.  Error-injection-based failure characterization of the IEEE 1394 bus , 2003, 9th IEEE On-Line Testing Symposium, 2003. IOLTS 2003..

[13]  Bin Li,et al.  Design and Implementation of Humanoid Robot Controller Based on CAN , 2004, 2004 IEEE International Conference on Robotics and Biomimetics.