2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics

AIM 2010 Paper Abstract


Paper ThB4.6

Barker, Owain (Carleton University), Beranek, Richard (Carleton University), Ahmadi, Mojtaba (Carleton University)

Design of a 13 Degree-Of-Freedom Biped Robot with a CAN-Based Distributed Digital Control System

Scheduled for presentation during the Regular Session "Legged Robot" (ThB4), Thursday, July 8, 2010, 14:40−15:00, Opus I

2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, July 6-9, 2010, Montréal, Canada

This information is tentative and subject to change. Compiled on October 15, 2018

Keywords Modeling and Design of Mechatonic Systems, Humanoid Robots, Design Optimization in Mechatronics


The design of a 13 degree-of-freedom autonomous biped robot, ABL-B1 is presented. Actuation is provided by brushed motors coupled with harmonic drive gear heads. A Control Area Network (CAN) provides a central bus for communication between all the actuators and sensors in the system. CAN-enabled microcontrollers allow for a distributed digital control loop architecture. The control hardware is coupled with a modular software architecture, running on an embedded PC, giving the ABL-B1 platform the ability to be reconfigured with different control strategies and to operate in a fully autonomous manner.



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