Cost oriented automation approach to upper body humanoid robot

J. Baltes*, C. T. Cheng, Mc Lau, J. Anderson

*此作品的通信作者

研究成果: 書貢獻/報告類型會議論文篇章

3 引文 斯高帕斯(Scopus)

摘要

To develop an efficient robotic system is always a challenge, in particular if the cost of the system is also an important factor. This paper presents an overview of development of our 10 degree of freedom humanoid, Betty. Reducing the cost of the system requires optimization of all aspects to retain its flexibility, reliability and performance at minimum cost. During the design and development of Betty, we only use low cost hardware and open source software to address both cost and performance issues. We develop a real-time kernel optimized to control servo positions and read back servo data. Parameters of this kernel are controlled by a PID controller resulting in an adaptive real-time kernel. After solving the forward and inverse kinematics of our robot, we implemented portrait drawing as a sample application showing the performance of our system.

原文英語
主出版物標題Proceedings of the 18th IFAC World Congress
發行者IFAC Secretariat
頁面12674-12679
頁數6
版本1 PART 1
ISBN(列印)9783902661937
DOIs
出版狀態已發佈 - 2011

出版系列

名字IFAC Proceedings Volumes (IFAC-PapersOnline)
號碼1 PART 1
44
ISSN(列印)1474-6670

ASJC Scopus subject areas

  • 控制與系統工程

指紋

深入研究「Cost oriented automation approach to upper body humanoid robot」主題。共同形成了獨特的指紋。

引用此