Design of a 13 degree-of-freedom biped robot with a CAN-based distributed digital control system

The design of a 13 degree-of-freedom autonomous biped robot, ABL-B1 is presented. Actuation is provided by brushed motors coupled with harmonic drive gear heads. A Control Area Network (CAN) provides a central bus for communication between all the actuators and sensors in the system. CAN-enabled mic...

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Bibliographic Details
Main Authors: Barker, O, Beranek, R, Ahmadi, M
Format: Conference Proceeding
Language:English
Subjects:
Actuators
Computer architecture
Hardware
Joints
Legged locomotion
Real time systems
Online Access:Request full text
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Description
Summary:The design of a 13 degree-of-freedom autonomous biped robot, ABL-B1 is presented. Actuation is provided by brushed motors coupled with harmonic drive gear heads. A Control Area Network (CAN) provides a central bus for communication between all the actuators and sensors in the system. CAN-enabled microcontrollers allow for a distributed digital control loop architecture. The control hardware is coupled with a modular software architecture, running on an embedded PC, giving the ABL-B1 platform the ability to be reconfigured with different control strategies and to operate in a fully autonomous manner.
ISSN:2159-6247
2159-6255
DOI:10.1109/AIM.2010.5695770