TY - GEN
T1 - The real-time embedded system for a humanoid
T2 - 13th FIRA Robot World Congress on Trends in Intelligent Robotics, FIRA 2010
AU - Lau, Meng Cheng
AU - Baltes, Jacky
PY - 2010
Y1 - 2010
N2 - 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.
AB - 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.
KW - Communication protocol
KW - Preemptive real-time kernel
KW - jitter and latency
KW - queue data structure
UR - http://www.scopus.com/inward/record.url?scp=78149266288&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=78149266288&partnerID=8YFLogxK
U2 - 10.1007/978-3-642-15810-0_16
DO - 10.1007/978-3-642-15810-0_16
M3 - Conference contribution
AN - SCOPUS:78149266288
SN - 3642158099
SN - 9783642158094
T3 - Communications in Computer and Information Science
SP - 122
EP - 129
BT - Trends in Intelligent Robotics - 13th FIRA Robot World Congress, FIRA 2010, Proceedings
Y2 - 15 September 2010 through 17 September 2010
ER -