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

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

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

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