The real-time embedded system for a humanoid: Betty

Meng Cheng Lau, Jacky Baltes

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

This paper investigates the efficiency of the real-time embedded system in our humanoid robot, Betty. In this paper we only discuss the upper body of Betty. Based on several experiments of different queue data structures, communication protocols and PID controller implementations, we measured and analysed the latencies and jitters of Betty's responses. The experimental results indicate the best configuration to optimise the performance of Betty's Control Program.

Original languageEnglish
Title of host publicationTrends in Intelligent Robotics - 13th FIRA Robot World Congress, FIRA 2010, Proceedings
Pages122-129
Number of pages8
DOIs
Publication statusPublished - 2010 Nov 12
Event13th FIRA Robot World Congress on Trends in Intelligent Robotics, FIRA 2010 - Bangalore, India
Duration: 2010 Sep 152010 Sep 17

Publication series

NameCommunications in Computer and Information Science
Volume103 CCIS
ISSN (Print)1865-0929

Other

Other13th FIRA Robot World Congress on Trends in Intelligent Robotics, FIRA 2010
CountryIndia
CityBangalore
Period10/9/1510/9/17

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Keywords

  • Communication protocol
  • Preemptive real-time kernel
  • jitter and latency
  • queue data structure

ASJC Scopus subject areas

  • Computer Science(all)
  • Mathematics(all)

Cite this

Lau, M. C., & Baltes, J. (2010). The real-time embedded system for a humanoid: Betty. In Trends in Intelligent Robotics - 13th FIRA Robot World Congress, FIRA 2010, Proceedings (pp. 122-129). (Communications in Computer and Information Science; Vol. 103 CCIS). https://doi.org/10.1007/978-3-642-15810-0_16