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

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

研究成果: Chapter

1 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルCISM International Centre for Mechanical Sciences, Courses and Lectures
出版社Springer International Publishing
ページ183-190
ページ数8
DOI
出版ステータスPublished - 2013

出版物シリーズ

名前CISM International Centre for Mechanical Sciences, Courses and Lectures
544
ISSN(印刷版)0254-1971
ISSN(電子版)2309-3706

ASJC Scopus subject areas

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

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