A SIMPLE AND EFFICIENT CONTROL ARCHITECTURE FOR WALKING ROBOTS - Application to AMRU5

Q. Bombled; O. Verlinden; M. Bagein; P. Manneback

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Paper

A SIMPLE AND EFFICIENT CONTROL ARCHITECTURE FOR WALKING ROBOTS - Application to AMRU5

Topics: Mobile Robots and Autonomous Systems

In Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, 277-280, 2011 , Noordwijkerhout, Netherlands

Authors: Q. Bombled ; O. Verlinden ; M. Bagein and P. Manneback

Affiliation: University of Mons, Belgium

Keyword(s): Distributed control, Real-time Linux real-time, PIC microcontrollers, UDP/IP communication, Walking robot.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Robotics and Automation

Abstract: A decentralized control architecture has been developed on the walking machine AMRU5. The vehicle is actuated by 18 DC motors, which have to be highly synchronized to produce a smooth motion of the robot body. Each leg has 3 motors driven by a microcontroller. The six microcontrollers communicate with a PC running real-time Linux which manages the feet motion generation to produce the desired gait. The complete control chain has been developed using standard freely available C tools.

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Paper citation in several formats:

Bombled, Q.; Verlinden, O.; Bagein, M. and Manneback, P. (2011). A SIMPLE AND EFFICIENT CONTROL ARCHITECTURE FOR WALKING ROBOTS - Application to AMRU5. In Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO; ISBN 978-989-8425-75-1; ISSN 2184-2809, SciTePress, pages 277-280. DOI: 10.5220/0003404802770280

@conference{icinco11,
author={Q. Bombled. and O. Verlinden. and M. Bagein. and P. Manneback.},
title={A SIMPLE AND EFFICIENT CONTROL ARCHITECTURE FOR WALKING ROBOTS - Application to AMRU5},
booktitle={Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO},
year={2011},
pages={277-280},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003404802770280},
isbn={978-989-8425-75-1},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - A SIMPLE AND EFFICIENT CONTROL ARCHITECTURE FOR WALKING ROBOTS - Application to AMRU5
SN - 978-989-8425-75-1
IS - 2184-2809
AU - Bombled, Q.
AU - Verlinden, O.
AU - Bagein, M.
AU - Manneback, P.
PY - 2011
SP - 277
EP - 280
DO - 10.5220/0003404802770280
PB - SciTePress