Distributed real-time processing for humanoid robots

Toshihiro Matsui, Hirohisa Hirukawa, Yutaka Ishikawa, Nobuyuki Yamasaki, Satoshi Kagami, Fumio Kanehiro, Hajime Saito, Tetsuya Inamura

研究成果: Conference contribution

20 被引用数 (Scopus)

抄録

A humanoid robot is a real-time system controlled by a complex computer system that requires huge computing power for perception and planning, high energy efficiency for self-contained control, reduction of physical dimensions, and high reliability. This paper proposes a distributed architecture for the humanoid robot control substituting conventional centralized control architectures. In addition to the parallelism that provides scalable computing power at low clock namely at low energy, the distributed architecture contributes to reliable operations by replacing many fragile analog signal wires with a digital network with redundant routes. In order to accomplish a real-time control over the network, RMTP (Responsive Multi-Threaded Processor) for parallel and real-time computation has been newly designed. RMTP can synchronize more than thirty nodes distributed over a robot body in less than 5 micro second with a realtime network called the Responsive Link (RL). Architectures of RMTP, RL and Linux-based real-time system software are presented.

本文言語English
ホスト出版物のタイトルProceedings - 11th IEEE International Conference on Embedded and Real-Time Computing Systems and Applications
ページ205-210
ページ数6
DOI
出版ステータスPublished - 2005
イベント11th IEEE International Conference on Embedded and Real-Time Computing Systems and Applications - Hong Kong, China
継続期間: 2005 8月 172005 8月 19

出版物シリーズ

名前Proceedings - 11th IEEE International Conference on Embedded and Real-Time Computing Systems and Applications

Other

Other11th IEEE International Conference on Embedded and Real-Time Computing Systems and Applications
国/地域China
CityHong Kong
Period05/8/1705/8/19

ASJC Scopus subject areas

  • 工学一般

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