Development of Distributed Control System, Modularized Motor Controller for Expressive Robotic Head

Takuya Otani, Tatsuhiro Kishi, Przemyslaw Kryczka, Nobutsuna Endo, Kenji Hashimoto, Atsuo Takanishi

    Research output: Chapter in Book/Report/Conference proceedingChapter

    1 Citation (Scopus)

    Abstract

    This paper describes the development of a distributed control system and a small motor controller unit modularized to a controller module and motor driver modules for a humanoid robot. The humanoid robot, KOBIAN, had a centralized control system. It was difficult to increase the number of motors because of PC’s I/O channel limit. We installed the distributed control system in the new head to increase the number of motors. Moreover, the modularized motor controller is developed to use in the various parts of the body. The small flexible motor controller is composed of a controller module and motor driver modules. Therefore, changing motor driver modules allows control of various components with the same controller module. This small motor controller unit can control 4 DC motors and read 8 channel of analog sensory data. We evaluated the performance of the developed motor controller and controlled the new robot’s head.

    Original languageEnglish
    Title of host publicationCISM International Centre for Mechanical Sciences, Courses and Lectures
    PublisherSpringer International Publishing
    Pages183-190
    Number of pages8
    DOIs
    Publication statusPublished - 2013 Jan 1

    Publication series

    NameCISM International Centre for Mechanical Sciences, Courses and Lectures
    Volume544
    ISSN (Print)0254-1971
    ISSN (Electronic)2309-3706

    Keywords

    • Controller Module
    • Function Module
    • Humanoid Robot
    • Motor Driver
    • Ultrasonic Motor

    ASJC Scopus subject areas

    • Mechanical Engineering
    • Mechanics of Materials
    • Computer Science Applications
    • Modelling and Simulation

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  • Cite this

    Otani, T., Kishi, T., Kryczka, P., Endo, N., Hashimoto, K., & Takanishi, A. (2013). Development of Distributed Control System, Modularized Motor Controller for Expressive Robotic Head. In CISM International Centre for Mechanical Sciences, Courses and Lectures (pp. 183-190). (CISM International Centre for Mechanical Sciences, Courses and Lectures; Vol. 544). Springer International Publishing. https://doi.org/10.1007/978-3-7091-1379-0_23